Programming Manual

Transcription

Programming Manual

Motoman ERC Controller
Programming
Manual
for Software Version 4.0
P art N u m b er:
4 7 9 9 5 0 -3 C D
R e v isio n :
2
MOTOMAN
af'YASKAWA company
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2003 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
TABLE OF CONTENTS
Section
Paae
1.0 SAFETY.......................................................................................................................... 1-1
1.1
STANDARD CONVENTIONS.....................................................................1-2
1.2
GENERAL SAFEGUARDING T IP S........................................................... 1-3
1.3
MECHANICAL SAFETY DEVICES............................................................ 1-3
1.4
INSTALLATION SAFETY............................................................................ 1-4
1.5
PROGRAMMING SAFETY..........................................................................1-4
1.6
OPERA TION SAFETY.................................................................................. 1-5
1.7
MAINTENANCE SAFETY............................................................................ 1-6
2.0 ERC BASIC OPERA TOR’S MANUAL......................................................................2-1
3.0 MOTOMAN SERIES OPERA TOR’S MANUAL...................................................... 3-1
4.0 MOTOMAN EACH APPLICA TION’S OPERA TOR’S MANUAL...........................4-1
5.0 ERC DEDICATED I/O..................................................................................................5-1
6.0 ERC I/O STRUCTURE................................................................................................ 6-1
7.0 ERC DEFAUL T I/O ASSIGNMENTS FOR EACH APPLICA TION........................ 7-1
8.0 CUBE INSTRUCTIONS............................................................................................... 8-1
9.0 TOOL CENTER POINT INSTRUCTIONS................................................................. 9-1
Programming Manual For Software Version 4.0
MOTOMAN
1.0 SAFETY
It is the purchaser's responsibility to ensure that all local, county,
state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This
information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA R15.06.
The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: 313/994-6088
FAX: 313/994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible
for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not
been trained!
We recommend that all personnel who intend to operate, program, repair, or use the
robot system be trained in an approved Motoman training course and
become
familiar with the proper operation of the system.
This safety section addresses the following:
MRC Safety
•
Standard Conventions (see Section 1.1)
•
General Cautions and Warnings (see Section 1.2)
•
Mechanical Safety Devices (see Section 1.3)
•
Installation Safety (see Section 1.4)
•
Programming Safety (see Section 1.5)
•
Operation Safety (see Section 1.6)
•
Maintenance Safety (see Section 1.7)
Page 1
MOTOMAN
STANDARD CONVENTIONS
This manual includes information essential to the
safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
•
•
•
•
DANGER
WARNING
CAUTION
NOTE
Pay particular attention to the information provided under these headings which are
defined below (in descending order of severity).
A
DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent
hazards that, if not avoided, will result in immediate, serious
personal injury or loss of life in addition to equipment damage.
A
WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards
that can result in personal injury or loss of life in addition to
equipment damage.
A
CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.
NOTE:
MRC Safety
Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.
Page 2
MOTOMAN
1.2
GENERAL SAFEGUARDING TIPS
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become
familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General safeguarding
tips are as follows:
1.3
•
Improper operation can result in personal injury and/or damage the equipment.
Only trained personnel familiar with the operation of this robot, the operator's
manuals, the system equipment, and options and accessories should be
permitted to operate this robot system.
•
Do not enter the robot cell while it is in automatic operation. Programmers must
have the teach pendant when they enter the robot cell.
•
Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of
the robot I/O (Inputs
and Outputs).
•
The robot must be placed in Emergency Stop (E-Stop) mode whenever it is not
in use.
•
In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also to Section
1910.147 (29CFR, Part 1910), Occupational Safety and Health Standards for
General Industry (OSHA).
MECHANICAL SAFETY DEVICES
The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user's responsibility. The conditions under which the equipment will
be operated safely should be reviewed by the user. The user must be aware of the
various national codes, ANSI/RIA R15.06 safety standards, and other local codes
that may pertain to the installation and use of industrial equipment. Additional
safety measures for personnel and equipment may be required depending on system
installation, operation,
and/or location. The following safety measures
are available:
•
Safety fences and barriers
•
Light curtains
•
Door interlocks
•
Safety mats
•
Floor markings
•
Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.
MRC Safety
Page 3
MOTOMAN
1.4
INSTALLATION SAFETY
Safe installation is essential for protection of people and equipment. The following
suggestions are intended to supplement, but not replace, existing federal, local, and
state laws and regulations. Additional safety measures for personnel and equipment
may be required depending on system installation, operation, and/or location.
Installation tips are as follows:
1.5
•
Be sure that only qualified personnel familiar with national codes, local codes,
and ANSI/RIA R15.06 safety standards are permitted to install the equipment.
•
Identify the work envelope of each robot with floor markings, signs,
barriers.
•
Position all controllers outside the robot work envelope.
•
Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
•
Eliminate areas where personnel might get trapped between a moving robot and
other equipment (pinch points).
•
Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.
and
PROGRAMMING SAFETY
familiar with the
equipment must understand potential dangers of operation. Programming tips are
as follows:
•
•
•
•
•
MRC Safety
Any modifications to PART 1 of the MRC controller PLC can cause
severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written permission
of Motoman will VOID YOUR W ARRANTY!
Some operations require standard passwords and some require special
passwords. Special
passwords are for Motoman use only.
Y O UR
W ARRANTY W ILL BE VOID if you use these special passwords.
Back up all programs and jobs onto a floppy disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before any service procedures are done and before any changes
are made to options, accessories, or equipment.
The concurrent I/O (Input and Output) function allows the customer to modify
the internal ladder inputs and outputs for maximum robot performance. Great
care must be taken when making these modifications.
Double-check all
modifications under every mode of robot operation to ensure that you have not
created hazards or dangerous situations that may damage the robot or other parts
of the system.
Improper operation can cause personal injury and/or damage the equipment.
Only trained personnel familiar with the operation, manuals, electrical design,
and equipment interconnections of this robot should be permitted to operate
the system.
Page 4
MOTOMAN
1.6
•
Inspect the robot and work
envelope to be sure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
•
Be sure that all safeguards are in place.
•
Check the E-STOP button on the teach pendant
programming.
•
Carry the teach pendant with you when you enter the workcell.
•
Be sure that only the person holding the teach pendant enters the workcell.
•
Test any new or modified program at low speed for at least one full cycle.
for proper operation before
OPERATION SAFETY
familiar with the
equipment must understand potential dangers of operation. Operation tips
are
as follows:
MRC Safety
•
Be sure that only trained personnel familiar with the operation of this robot, the
operator's manuals, the system equipment, and options and accessories are
permitted to operate this robot system.
•
Check all safety equipment for proper operation. Repair or replace any non functioning safety equipment immediately.
•
Inspect the robot and work envelope to ensure
no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
•
Ensure that all safeguards are in place.
•
the system.
•
have the teach pendant when they enter the cell.
•
in use.
•
This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and other
equipment. Disconnect and lockout/tagout all electricalcircuits before making
any modifications or connections.
•
All modifications made to the controller will change the way the robot operates
and can cause severe personal injury or death, as well as damage the robot. This
includes controller parameters, ladder parts 1 and 2, and I/O (Input and Output)
modifications. Check and test all changes at slow speed.
Page 5
MOTOMAN
1.7
MAINTENANCE SAFETY
familiar with the
equipment must understand potential dangers of operation. Maintenance tips are
as follows:
MRC Safety
•
Do not perform any maintenance procedures before reading and understanding
the proper procedures in the appropriate manual.
•
Check all safety equipment for proper operation. Repair or replace any non functioning safety equipment immediately.
•
the system.
•
Back up all your programs and jobs onto
a floppy disk whenever program
changes are made. A backup must always be made before any servicing or
changes are made to options, accessories, or equipment to avoid loss of
information, programs, or jobs.
•
have the teach pendant when they enter the cell.
•
in use.
•
Be sure all safeguards are in place.
•
Use proper replacement parts.
•
This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and other
equipment. Disconnect and lockout/tagout all electricalcircuits before making
any modifications or connections.
•
All modifications made to the controller will change the way the robot operates
and can cause severe personal injury or death, as well as damage the robot.
This includes controller parameters, ladder parts 1 and 2, and I/O (Input and
Output) modifications. Check and test all changes at slow speed.
•
Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of
the robot I/O (Inputs
and Outputs).
Page 6
MOTOMAN
YASNAC ERC
CONTROLLER FOR INDUSTRIAL ROBOT M O TO M AN
BASIC OPERATOR’S MANUAL
Before initial operation, read these instructions thoroughly, and retain for future reference.
YASKAWA
T h is m a n u a l illu s tra te s g ra p h ic a lly the basic operation
tots, as shown below,
procedures fo r MOTOMAN root
P o w e r ON
Job creation
■ t —
■ >.
R e fe r to the s ta n d a rd O p e ra to r's M a n u a l and M a in te n an ce
M a n u a l, respectively, fo r d etails.
■ R e lated P u b lic a tio n s
• M o to m an Series w ith Y A S N A C E R C C O N T R O L L E R
O P E R A T O R 'S M A N U A L (T O E - C 9 4 5 -1 0 0 )
• Y A S N A C E R C M A IN T E N A N C E M A N U A L (T O E -C 9 4 5 ~ 1 3 0 )
CONTENTS
'
• POW ER ON /4
• JOB C R E A T IO N
• Teaching Preparation /6
• Teaching Operation /8
• Matching F irst Step and Last Step /12
• Checking Step Operation /14
• Teaching Unlock /15
• PLAYBACK
• Playback Preparation (M aster E ntry) /15
• Playback Preparation (D isplay of Job Text) /17
• Playback Operation /18
• POWER OFF /19
0 ,
- 2 -
I
Keep this page unfolded while performing key operation.
®
O p erato r's Panel
of Y A S N A C ERC
START
0 0
0 0 0
000
000
play
[ |t e a c h | fgyQTEj
H O LD
00 000
CYCLE
00 000
E DÉD I â D
A U TOI |i CYCLE| |STEP[
YASNAC
PUSH
E
R
C
®
Teach P endant
POWER ON
Now, here you are in front of the operator's panel.
D
H o w to use the
O p e ra to r's Panel.
Turn the power supply
switch on the control
panel to ON position.
E xecuting m em ory test
is displayed on CRT.
When the power is turned on,
all the lam ps on operator’s
panel and teach pendant b l i n k
m om ently during m em ory
test.
123456789012345678901234567890 123456789012345678901234567890 1234567890
01 PLAYBACK MODE ACTV-JOB:ASSY-001 L:00!2 S: 008 ON STOP
02 1987/05/14 09:32 ------------------------------------------------------------------------03
04
05
06
07
08
09
10
Y A S N A C
E R C
11
12
When the num erical value
becom es 0 , m em ory test is
com pleted and ERC system
starts to operate.
Then the display on the
right appears.
- 4 -
13
14
15
ROBO T M ODEL : M O TO M A N L 106S
j®
SO FT V ERSION : 07A CE) -0 0 2 . 56/2. 56
¡8
A P PL IC A T IO N : ARC W ELD IN G
19 - * > Push SERVO POWER ON Key
20
22
Job
| Position
[
File
I Diagnosis] IMasterJob 1
POWER ON
Q
Dep ress [ otTJ
key.
H o w to use the
The servo power is turned on.
OPERATOR’S PANEL
TEACH PEN DANT
-£5000
Working together hand-in-hand !
- 5 -
JOB CREATION
For teaching, specify job for the work to be taught.
H
Depress
H o w to use
O p e r a t o r ’s Panel
TEACHING MODE ACTV-JOB: ASSY-001 L:0012 S: 008 ON STOP
1987/05/14 09:32
---------------------------------------------------------- -- ---- -
EDIT-JOB: ASSY-001
L:0012
S:008
The
TEACHING
PREPARA
TION
w ill light.
□
Y
New job
Depress 1 __
A
S
N
A
I F31
Depress
JOB
E
R
C
RO BO T M ODEL :M O T O M A N L 106S
SO FT V ERSION :07A CE]- 0 0 2 . 56/2. 56
A P PL IC A T IO N : ARC W ELDING
1 key.
* Set o p e ra tin g item.
Teach-lock
B
C
key.
New job [ [O ther jo b | ¡Master job| —
123456789012345678901234567890 123456789012345678901234567890 1234567890
01 TEACH
MODE
02 1987/05/14 09:32
03
04
05
06
07
ACTV-JOB:ASSY-001
Y
A
S
N
A
L:00I2 S: 008 ON STOP
C
RO B O T M ODEL M O TO M A N L 106S
SO F T V ERSION 07A ( E ) —002. 56/2. 56
A PPL IC A T IO N
ARC W ELD IN G
= > S et o p e ra tin g item.
JOB
reserve JOB
0 ED ED ED S3 ED 0
The display on the right
appears.
123456789012345678901234567890 123456789012345678901234567890 1234
TEACHING MODE
1987/05/14 09:32 JOB LIST
JO B T O T A L
NO.
:
I
ACTV-JOB: ASSY-001
L:0012 S:008 ON STOP
E D IT —JOB:ASSY-001
L:00I2 S:008
M EM ORY : 856 b yte R E M A IN S:32004byte
P O S IT IO N : 105 point R E M A IN S:2199point
JOB NAME P O SIT IO N S PROG. DATE/TIME PROTECT SAVE
107 (
7 )1987/04/16 10:37
on
DO NE
123 (
8 )1987/04/23 14:12
DONE
123 (
8 )1987/04/23 14:12
325 (
20 )1987/05/14 9:00
178 (
6)1987/05/11 9:30
on
00001 : SAMPLE-1
00002 : SAMPLE-2
00003 : SAMPLE-3
00004 : ASSY-001
00005 : ASSY-002
= * > E n ter new jo b n am e o r num ber.
|a b c -a b c [ [
3
0
I I
0
0
P age . I I P ag e T
0
H
E
JOB CREATION
I
L J
How to use the
Operator's Panel.
H
If sig n a ls are inputted, depress [ ^ j key and
Exit
key appears. After depressing
If using number key,
depress
ENTER
key.
Exit
key.
key, depress
TEACHING
PREPARA
TION
If the job num ber is w rong,depress |
key
to register the job num ber again.
Another m ethod is as follow s. D epress j ► Jkey,
and Back Space I key appears. Then depress
Back Space key to register the job num ber again.
DATA
□ 0 0
000
000
000
01
92
03
04
05
06
07
08
09
10
11
12
13
14
15
TEACHING MODE
)987/05/I4 09:32 JOB LIST
JO B T O T A L
NO.
0000]
00002
00003
00004
00005
:
5
ACTV-JOB: ASSY-001
L:00I2 S:008 ON STOP
EDIT -JOB:ASSY-001
L:0007 S:004
M EM ORY . 856 b y te R E M A IN S:32004byte
P O S IT IO N : 105 point R E M A IN S:2199point
JOB NAME PO SIT IO N S PROG DATE'TIME PROTECT SAVE
107 (
7 )1987/04/16 10:37
on
DONE
: SAMPLE-1
: SAMPLE-2
123 (
8 )1987/04/23 14:12
DONE
123 (
8 )1987/04/23 14:12
:
325 (
20 )1987/05/14 9:00
:
178 (
6)1987/05/11 9:30
on
: ASSY-002
19 == > E nter new jo b n am e o r num ber.
20
2 ^ '^ A B C -A BC | |
If job number
1 2 3 is registered.'
[ |
I P age .
Page
0000000
For the job nam e, the follow ing num ber of
the character is available:
H a lf-siz e - 8characters
F u ll-s iz e - 4characters
LOCK and its characters blink.
- 7 -
JOB CREATION
121
Is the num bering completed ?
Then, hold the teach pendant, and stand in front
of the manipulator.
A re you sure that you are outside the operation
envelop of the m anipulator ? A re you sure that
there is no danger ?
Depress
ENABLE
key.
The
H o w to use the
Teach P e n d a n t.
E
N
£ LE
lam p will light.
The follow ing d isplay appears on the teach
pendant and the operation is possible.
TEACHING
OPERA
TION
000
COORD
Depress
MAN
SPD
key to set
MAN SPD
[E.STO P|
□
F JOINT
□
FST
JOINT
□
r
□
SLW
D ^ C IfiO [
□
I I
NOP
TOOL
\
USER
1Speed changes FST -* MED-* SLW everytim e
the speed at "high".
d epressing
key. If three lam ps are lit, the
m anipulator starts inching.
If ax ia l operation is perform ed with d epressing
key, the m a n ip u la to r m oves at h ighest
speed with m anual operation.
N o w let's see w h a t the m a n i p u l a t o r w i l l do.
L e t ' s watch the operation of each axis.
IB
Xs-
Depress the operation key
of each axis, one by one,
to move the axes of the
m anipulator.
--- YL-
Y +
L+
T
R-
y
key is depressed.
L -a x is(L o w e r arm m ovem ent)
'
___
• U ser C oordinates for link,
rectangular, or cylindrical
tools are selected each tim e
S - a x is ( R otation )
-
zu-
the
x +
s +
Z +
U+
T
R +
'“ V
y
B-
B +
T-
T+
%_
T
U -a x is(U p p e r arm m ovem ent)
R - a x is (R o llin g )
B - a x is ( Bending)
T - a x is (T urning)
D i d the m a n i p u l a t o r move as intended ?
-
8
-
JOB CREATION
Now, let's try teaching. Is the
enable
lamp on ?
CD
Teaching cannot be done without this lamp on.
m
Let the m anipulator
move to a start point by
axial operation.
(S TE P 1)
How to use the
Teach Pendant.
rIT n t
'Torch Position on Welding
(Step 1 to Step 3)
Depress
STEP 1
key and depress
PLAY
SPD
key to set the speed at " 50%".
ON
NOTE
Then depress
key.
STEP 2
jo
For joint
motion, after
depressing
MOTION
TYPE
key to light
MOTION
V(,TYPE
t h e g i r
□
D e t e r m in e the s t a r t p o in t c o n s id e r in g the
w o r k p ie c e p o s itio n .
• If m otion type is joint, the follow ing
display appears on the teach pendant.
Step
'amp,
7
0
5
0
0 %
•‘ CIRC
depress
key.
• If m otion type is linear or circular,
the follow in g display appears on
the teach pendant.
Step
7
7
0
5
0
M M /
S
Eight sp eed (l to 8)steps are selectable.
are availab le.)
m
Let the m anipulator move to
the point near a welding
start point by axial operation.
(S T E P 2 )
IB
Dep ress
key.
STEP 1
The follow in g display appears on the teach
pendant.
0
0
S te p
- 9 -
2
T
L
0
Tool Data
M 0
V |J
Instruction
JOB CREATION
Let's continue the teaching.
H o w to use the
T each P e n d an t.
QQ Depress
MAN
SPD
MAN SPD
key to set the speed at M E D .
• The
STEP 1
m
Let the m anipulator move
to a welding start point
by axial operation.
(S TE P 3)
[Q
Depress
PLAY
SPD
a
FST
□
MED
Ö
SLW
la m p w ill b e lit.
The follow ing display appears on the teach
pendant.
key.
Then, after depressing
0
OFF
0
3
T
L 0
M 0
V
J
key to set the speed at
12.47%", depress
record key.
QQ Let the m anipulator move
to a welding end point by
axial operation.
(S TE P 4)
pendant.
key.
BD Depress
Between the w elding start point(STE P 3) and
end p oint(ST E P 4), let the m anipulator move
arbitrarily to avoid contact with the workpiece.
For linear motion, after
depressing
MOTION
TYPE
key to light
0
0
4
T
L 0
M 0
MOTION
TYPE
t h e g l -
lamp,
□ ^CIRO
depress
IB
Depress
record key.
MAN
SPD
MAN SPD
\t /
key to set
• The
the speed at FST.
- 1 0 -
□
FST
□
med
□
SLW
la m p w ill b e lit.
V L
I
JOB CREATION
Let the m anipulator move
away from the welding end
point by axial operation.
(S TE P 5)
How to use the
Teach Pendant.
31
Dep ress
PLAY
SPD
key.
A fter depressing
• The follow in g display appears on the teach
+
Key to
ON
set the speed at "50%
depress
STEP 1
pendant0
0
5
T
L
0
M 0
V
J
record key
Let the m anipulator
return to the point near
the start point by axial
operation.
(S TE P 6)
Depress
record key
The follow in g d isplay appears on the teach
pendant.
0
0
6
T
L 0
M 0
his ends the basic teaching ope ra ti on.
-11
-
V
J
JOB CREATION
F irst, return the m anipulator from the last step
(step 6)to the first step(step 1).
How to use the
Teach Pendant.
MATCHING
FIRST STEP
AND
LAST STEP
Depress
key.
keys.
Depress
ENABLE
CD
simultaneously
000
r,
COORD
MOVJ
TYPE
□
FST
C3 ~ jO .N 1
O
0 a WcyDL
O
MED
d -L N P
□
SLW
y
TOOL
\
USER
ENABli
T LO
MOTION
P JOINT
CD
0 0 1
MAN SPD
□
□
Depress
NOP
coord )
| j ^
' If displayed step is different from
the actual position of m anipulator,
001 blinks.
Next, operate as follows while watching the movement
- 12
JOB CREATION
When the m anipulator returns to the first step (step 1),
let's match the last step (step 6) with this first step.
H o w to use the
Teach P e n d an t.
The m anipulator moves in sequence from step 1 to step 6 and then from
step 6 back to step 1 ■
If these positions are different, alter step 6 to the same position as step 1
for efficient operation.
JfS k A fter depressing Awwlkey, depress
OFF
key three times.
and the last step (S TE P 6)
of a program is displayed on C R T.
0
0
0
N 0
0
0
6
E
N D
0
0
6
T
L 0
once
P
tw ice
M 0
V
J
three tim es
Blinks
key.
Depress =-g
MOOIFY
«]
Depress
RECORD
key.
W i t h the above, the f ir st step(step 1) and
last step(step 6 ) wi 11 be at the s a m e position.
- 1 3 -
JOB CREATION
Next, check if the taught points are correct.
How to use the
Teach Pendant.
I
CHECKING
STEP
OPERATION
ENABLE
C D
000
i
NOP
keys simultaneously.
COORD
Depress
ON
□
key.
0
1
T
L 0
M 0
V
MAN SPD " type "
JOINT □
FST
□
|E .S T 0 P |
— JOINT
□ ®BæyÏ O
med □ “LNn ( i f : -vs
I
S LW
□
0
f
I T ' TOOL □
□
<‘~‘ CIRo(
USER
J
Next, operate as follows, while watching the
movement of the m anipulator.
m
D epress
Contiue depressing
key until the m anipulator
-CO NT— HOLD— START
key until
STEP —
K B W Q
- |FWD>
the m anipulator moves
from step 1 to step 6 .
m oves from step 1 to step 2, When the
m anipulator stops its m otion, depress
again to move to each subsequent step
up to step 6.
Operation speed can be changed by
changing the data of teach pendant.
A t first, select lower speed e.g . “ M E D ”.
Hold down the
key is depressed, the m anipulator
continues to operate, after once
confirm ing the locus with low speed,
perform this operation. (When the
m anipulator m oves to the step of
m ore than 25%,it operates with
in -g u a r d -s a fe ty speed.)
- 1 4 -
\
PLAYBACK
Is the teaching OK
Let's release thel lock Ibefore moving on to the
next operation.
Depress
How to use the
Operator's Panel.
ENABLE
¡m*,
= U —J
key.
The EN A BLE lam p is turned off.
pendant.
L
TEACHING
UNLOCK
M Dep ress
OFF
key to
C
I O
K
- j
O
N
pendant.
unlock the teach lock.
L
O
C
K
O
—
F
F
Let's start playback operation.
How to use the
Operator's Panel.
_
Master job .
Depress 1—,
i 1key.
B
123456789012345678901234567890 123456789012345678901234567890 1234
01
02
03
04
05
PLAYBACK
PREPARA
TION
( Master^
lE n try )
09
10
1121
ACTV-JOB:ASSY-001 L:00I2 S:008 ON STOP
TEACHING MODE
1987/05/14 09:32 -----------------------------------------------------------JOB TEXT
EDIT—JOB:123
L:0007 S:007
LINE: STEP: INSTRUCTION:
PROGRAM ED TO O L : 00
0000 000
NOP
0001
00!
MOVJ VJ-60.00
------0002
002
MOVL V - 800.0
0003 003
MOVL V - 500.0
0004 004
MOVL V - 800.0
0005 005
MOVL V - 800.0
MOVL V—800.0
0006 006
MOVJ VJ™ 75.00
0007 007
0008
END
13
14
15
16
17
18
19 * * > S et o p e ra tin g item .
20
22
ITeach-lock") |
1
Depress
Store
B
0
~ j j New job~| |O th er jo b ] | Master job] —
0
0
0
Ø J B
I key.
TEACHING MODE
ACTV—JOB:ASSY-00i L:00I2 S:008 ON STOP
1987/05/14 09:32 JOB TEXT
EDIT-JOB: 123
L:0007 S:007
LINE: STEP: INSTRUCTION:
PROGRAM ED TO O L : 00
0000 000
NOP
0001 001
MOVJ V J-50 00
0002 002
MOVL V -800 0
0003 003
MOVL V - 500.0
0004 004
MOVL V - 800.0
0005 005
MOVL V - 800.0
0006 006
MOVL V - 800.0
0007 007
MOVJ V J-7 5 .0 0
0008
END
19 ==> Select eith er reco rd o r call fo r th e m aste r job.
20
22
I
I I
I I
I I
Store
I
<
DB B B Efl B [E
-
15
PLAYBACK
Move the cursor with
How to use the
Operator's Panel.
123456789012345678901234567890 123456789012345678901234567890 1234
CURSO R
S E
00
keys.
Cursor -
01 TEACHING MODE
ACTV—JOB:ASSY-001 L:00I2 S:008 ON STOP
02 1987/05/14 09:32 03 JOB LIST
EDIT—JOB:123
L:0007 S:007
04
05 JO B T O T A L : i
M EM ORY -963byte R E M A lN S:31897byte
06
PO SIT IO N : 112*point R E M A IN S :2192point
07
08 NO.
09 00001 SAMPLE-1
107 (
on
7 )1987/04/16 10:37
DONE
10 00002 SAMPLE-2
123 (
8 )1987/04/23 14:12
DONE
11 00003
123 (
8 )1987/04/23 14:12
12 00004 ^
r
3
325 (
20 )1987/05/14 9:00
13 00005 ASSY-002
178 (
on
6)1987/05/11 9:30
107 (
- 4 * -00006
123
7 ) 1987/05/14 9:32
= > C u rso r on m aste r job.
Ia b c - a b c ]
0000000
Depress
key.
123456789012345678901234567890 123456789012345678901234567890 1234
TEACHING MODE
ACTV-JOB:ASSY-OOl
1987/05/14 09:32 — MASTER JOB:123EDIT—JOB:123
JOB LIST
JO B T O T A L
6,
M EM OR Y
PO SIT IO N
:963byte R E M A IN S:31897byte
: ll 2 p o in t R E M A IN S:2192point
NO.
00001 : SAMPLE-1
107 (
-----------------------------7)1987/04/16 10:37
DONE
00002 : SAMPLE-2
123 <
8 )1987/04/23 »4:12
DONE
123 (
8)1987/04/23 14:12
325 (
20)1987/05/14 9:00
00005 : ASSY-002
178 (
6)1987/05/11 9:30
123
107 (
7)1987/05/14 9:32
8883 iM
Cursor.
:
L:0012 S:008 ON STOP
L:0007 S:007
r 3
■> S et o p e ra tin g item.
I New job I lO ther jo b I ¡Master job I
- 1 6 -
PLAYBACK
Now, let's move the m anipulator from the beginning,
Check that there is no one near the manipulator.
EH Depress
DISP
key.
How to use the
Operator's Panel.
PLAYBACK
PREPARA
TION
/Display o i\
\J o b text )
Depress
Job
key.
I2D
TEACHING MOOE
ACTV-JOB :ASSYHX) I L:0012 S:008 ON STOP
1987/05/14 09:32 • -MASTER JOB:123----JOB LIST
L:0007 S:007
EDIT-JOB: 123
6.
JOB T O T A L
NO.
00001
00002
00003
00004
00005
Cursor
M EM ORY
PO SITIO N
963byte R EM A IN S :3189'?byte
ll2 p o in t REM A IN S: ¿iy2point
JOB NAME PO SIT IO N S PROG.DATE/TIME PROTECT SAVE
: SAMPLE-!
107 C
7 >1987/04/16 10:37
DONE
: SAMPLE-2
123 (
8 )1987/04/23 J4 J2
DONE
:
8 )1987/04/23 14:12
:
20 )1987/05/14 9:00
: ASSY-002
178 (
6 )1987/05/11 9:30
7) 1987/05/14 9 32
123
107 (
m
■> Select display menu.
B B B B [E
• The display on the
right appears.
123456789012345678901234S67890 123456789012345678901234567*90 1234
0!
02
03
04
05
06
07
08
09
10
II
12
13
14
15
16
17
18
19
TEACHING MODE
ACTV-JOB:ASSY-001 L:0012 S:008 ON STOP
1987/05/14 09:32 --M ASTER J0B :I23------------------------------------------JOB TEXT
EDIT-JOB: 123
LINE STEP: INSTRUCTION; P R O
1ED TOOL : 00
0000 000
NOP
MOVJ V J-50.00
0001 001
0002 002
MOVL V - 800.0
0003 003
MOVL V - 500.0
0004 004
MOVL V - 800.0
0005 005
MOVL V - 800.0
0006 006
MOVL V - 800.0
0007 007
MOVJ V J - 75.00
0008
END
„ — --
20
22
- 17 -
-- ----
L;000- S;007
— >
I
I I
Pag el
I I
Paaet
I ¡D i»
.
PLAYBACK
Now, let's move the m anipulator from the beginning.
Check that there is no one near the m anipulator.
Depress j = j key.
• The
jplay| key lam p w ill light.
How to use the
Operator's Panel.
PLAYBACK
OPERA
TION
js_J
hCYCLE I
key.
The
(ED
key lam p w ill light.
START
m
Push
button.
• The STA RT button lam p will light,
and the m anipulator moves.
Did the m anipulator move from step 1 to step 6 and
stop, just as it was taught ?
POWER OFF
A lw ays turn off the power when ending the operation
If you want to continue the teaching operation, start
again from the "Teaching Preparation" on page 6 .
H o w to use the
POWER
OFF
Push
button,
ON
The servo power is turned OFF.
The power is turned off.
FÇ Z y
Turn the power supply
switch to O FF.
Now the basic operation is completed.
- 1 9 -
INSTRUCTIONS
YASNAC ERC
CONTROLLER FOR INDUSTRIAL ROBOT MOTOMAN
BASIC OPERATOR’S MANUAL
T O K Y O O FFIC E Ohtemachi ßldg, 1-6-1 Ohtemachi, Chiyoda-ku, Tokyo, 100 Japan
Phone (03) 3284-9111, -9145 Telex Y A S K A W A J33530 Fax (03) 3284-9034
S E O U L O FFICE Seoul Center Bldg, 91-1, S o Kong-Dong, Chung-ku, Seoul, Korea
Phone (02) 776-7844 Fax (02) 753-2639
TAIPEI O FFICE Union Commercial Bldg, 14F, 137, Nanking East Road, Sec 2, Taipei, Taiwan
Phone (02) 507-7065. -7732 Fax (02) 506-3837
Y A S K A W A ELEC T R IC A M ERICA, INC. : SU B SID IA R Y
Chicago-Corporate Headquarters 2942 MacArthur Blvd. Northbrook, Illinois 60062-2028, U.S.A.
Phone (708) 291-2340 Fax (708) 498-2430
Los Angeles Office 7341 Lincoln Way, Garden Grove, California 92641, U.S.A.
Phone (714) 894-5911 Telex (230) 678396 Y A S K A W A U S TSTN Fax (714) 894-3258
New Jersey Office 30 Two Bridges Road, Fairfield, New Jersey 07006, U.S.A.
Phone (201) 575-5940 Fax (201) 575-5947
M O T O M A N INC.
Headquarters 805 Liberty Lane West Carrollton, OH. 45449, U.S.A
Phone (513) 847-6200 Fax (513) 847-6277
Y A S K A W A ELEC T R IC EU R O PE GmbH : S U B SID IA R Y
Niederhöchstädter Stra/Se 71-73, W 6242 Kronberg-Oberhöchstadt, Germany
Phone (06173) 640071, 640072, 640073 Telex 415660 Y A S E D Fax (06173) 68421
Y A S K A W A ELJÉTRICO DO B R A SIL C O M É R C IO LTDA. : SU B SID IA R Y
Av. Brig Faria Lima, 1664-cj 721/724, Pinheiros. Sâ o Paulo-SP, Brasil CEP-01452
Phone (011) 813-3933, 813-3694 Telex (011) 82869 Y S K W B R Fax (011) 815-8795
Y A S K A W A ELEC T R IC (SINGAPORE) PTE. LTD.
C P F Bldg, 79 Robinson Road No. 13-05, Singapore 0106
Phone 2217530 Telex (87) 24890 Y A S K A W A R S Fax (65) 224-5854
^
YASKAWA ELECTRIC CORPORATION
TOE-C945-160C
© Printed in Japan May 1992 87-7 1T <s>
INSTRUCTIONS
YASNAC ERC
CONTROLLER FOR INDUSTRIAL ROBOT MOTOM AN
OPERATOR’S MANUAL
Before initial operation, read these instructions thoroughly, and retain for future reference.
YASKAWA
I
M anipulator- K 6SB
-
3 -
T h is m a n u a l c o n s is ts o f
B asic O p eratio n
P la y b a c k
B asic O p eratio n
a n d | A pplied O p eratio n
is s u m m a riz e d ea c h k e y fu n c tio n , o p e r a tio n o f “M ain p o w e r ON ^
T e a c h in g
M ain p o w e r O F F ”, m o v e m en t of m a n ip u la to r, etc.
A pplied O p eratio n | is e x p la in e d th e jo b e d itio n in o p e r a to r ’s p a n e l a n d te a c h p e n d a n t, d a ta sto r-
age, d ia g n o sis o p e ra tio n , etc.
B ecom e th o r o u g h ly f a m ilia r w ith th is m a n u a l, a n d u tiliz e it fo r a c tiv e o p e r a tio n o f M otom an
s e rie s .
RELA T E D M ANUAL
YASNAC ERC
( K A E - C 9 4 5 - 100)
YASNAC ERC
M ain ten an ce M anual
(TO E — C 9 4 5 — 1 3 0 )
M otom an S eries
B asic O p e ra to r’s M anual
(TO E —C 9 4 5 — 160)
F o r E ac h A p p lic atio n
M o to m a n S eries
O p e ra to r’s M a n u a l (T O E —C 945—161)
On the next page, YASNAC ERC
Operator’s panel and teach pendant
are illustrated.
Please read this manual by opening
the page. It will be convenient if you
find the key position.
-
4 -
Keep open this page to visualize the key position.
©
m
®
FUNCTION
0 0
0 0
CURSOR
D O
□□
OATA
DOB Is
ODQ
ODD
BOB
^9 D OS (U
START
i
B
■ P W l flWÜI
|
J223 5 0 3
1
YASNAC
PUSH
®
ER C
YASNAC ERC
Operator’s Panel
I
TABLE OF CONTENTS
1 SWITCH, BUTTON AND KEY FUNCTIONS...........
POWER SUPPLY SWITCH ON CONTROLLER.......... 16
1.2
OPERATOR'S PANEL KEY FUNCTION...............17
SERVO POWER ON ...............................52
3.4
EMERGENCY STOP (SERVO POWER OFF'i .......... 52
3.5
MAIN POWER OFF ...............................52
4
Pushbuttons................................. 18
1. 2. 2
3.3
15
1. 1
1. 2. 1
Status at Power O F F ........................ 51
3.2.3
TEACHING ................................... 53
4.1
TEACHING OPERATION FLOWCHART ...............54
4.2
PREPARATION FOR TEACHING ................... 57
4.2.1
Flat K e y s .................................. -19
Registration of J o b ........................ 57
4. 2.1.1
1. 2. 3
1.3
Job Name Registration by using
Data K e y s ................................. 58
Sub Pan e l................................... 22
FUNCTION OF TEACH PENDANT.................
23
1.3.1
Manual Operation Section ................. 25
1.3.2
Check Section of Locus ................... 26
1.3.3
4. 2. 1. 2
Job Name Registration by Inputting
4. 2.1. 3
Job Name Registration by Adding
Alphabets................................. 60
Registration and Edit Section
2 Digits to Reserved Job Name .......... 63
of Reference ...............................27
1.4
SOFT KEY FUNCTION............................ 30
1.4.1
Construction of Soft Key Labels.......... 30
1.4.2
Designation of Soft Key Labels ........
1.4.3
1.5
4.2.2
Confirmation of Emergency Stop Button —
4.2.3
Setting of Teach Lock ..................... 68
4.3
30
TEACHING ......................................69
4.3.1
Calling Up Soft Key Labels ...............33
DISPLAY CONSTRUCTION ........................ 34
67
Path Registration in Teaching............ 75
4. 3.1.1
Notes for Path Registration............ 80
4.3.1.2
Manipulator Position Registration..... 80
4. 3.1. 3
Play(Motion)Speed Registration ........ 81
4.3.1.4
Motion Type (Li nk. Linear. Circular)
DESCRIPTION OF CRT DISPLAY ................. 37
4. 3.1. 5
Positioning Level Specification........85
Basic Format ...............................37
4. 3.1. 6
Reference Point Specification.......... 86
1.5.1
Display Construction on Operator’s
1. 5. 2
Display Cal 1 ing Up ........................35
1.5.3
Teach Pendant Display..................... 36
Panel........................................ 34
1.6
1. 6.1
Registration ............................ 82
4.4.. OVERLAPPING OF FIRST AND LAST STEPS........ 87
1.6.1.1
Status Display A r e a ..................... 37
1.6.1.2
Human Interface Display Area .......... 38
1.6.2
4.5
PATH CONFIRMATION............................ 89
4.5.1
CRT Display Control ........................ 39
Backward and Forward Key Operation ..... 90
4. 5.1.1
Mode Selection .......................... 90
CRT Display O F F .......................... 39
4.5.1.2
Precautions during Backward/Forward
DATA INPUT ................................... 40
4. 5.1. 3
Relation between Backward/Forward
1.6.2.1
Automatic Brightness Control .......... 39
1.6. 2. 2
Key Operation............................ 91
1.7
Key Operation and Movement ............ 91
1.7.1
Numeric Value Input........................ 40
1. 7. 2
Character Input............................. 42
1.7.3
CANCEL Key Function........................ 44
4. 5.1. 4
Motion Speed Selection ................. 93
ENTER Key Function ........................ 45
4. 5.1.5
Motion to Reference Point CREEP) ..... 93
1.7.4
4.6
2 BASIC OPERATION SEQUENCE ................... 47
2.1
BASIC OPERATION FLOWCHART................... 48
PATH CORRECTION...............................94
4.6.1
Inserting Position Data ................... 94
4.6.2
Modifying Position Data ................... 97
3 TURNING POWER ON/OFF ....................... 49
4.6.3
Deleting Position Data ................... 98
3.1
MAIN POWER O N ................................. 50
4.6.4
Modifying Motion T y p e ..................... 99
3.2
INITIAL DIAGNOSIS AND SYSTEM
4.6.5
Modifying Motion Speed Data ............
101
4.6.6
Modifying Positioning Level............
102
4.6.7
Modifying Reference Point............... 103
INITIALIZATION ............................... 51
3. 2.1
Initial Diagnosis.......................... 51
3.2.2
Present Value Creation ................... 51
4. 7
-
6
TEACH LOCK RELEASE ........................ 104
4.8
TEMPORARY RELEASE OF SOFT LIMIT CHECK --- 104
6.6.3
4.9
INTERFERENCE PREVENTION FUNCTION
6.7
IN THE INTERFERENCE AREA ................. .106
Cylindrical Coordinate System Motion •• 147
TOOL/USER COORDINATE SYSTEM MOTION ..... .148
6.7.1
Selecting Tool/User Coordinate Number-- 148
6.7.2
Tool Coordinate System ................. .149
6.7.3
User Coordinate System ................. .150
5 PLAYBACK OPERATION
.109
5.1
PLAYBACK OPERATION FLOWCHART
.110
5.2
PREPARATION FOR PLAYBACK
.Ill
6.8
TCP FIXED FUNCTION ........................ .151
6.9
TCP CHANGE FUNCTION.........................153
5.2.1
Registration of Master Job
.Ill
5.2.2
Display of Job T e x t
.112
7
5.2.3
5.3
Calling Up of Master Job
PLAYBACK
5. 3.1
7.1
.113
Specification of Start Operation
5.3.2
APPLIED OPERATION FLOWCHART................158
.114
8 JOB EDIT ..................................159
Start Operation.......................... .115
5.3.1.1
APPLIED OPERATION SEQUENCE ................157
8.1
116
BASIC OPERATION FLOWCHART ON
OPERATOR' S PANEL .......................... .160
Special Operation at PLAY Mode ........ .118
8.1.1
Setting and Release of Edit Lock ..... .161
Speed Adjustment Operation .......... .118
8. 1. 1.1
Edit Lock Key (Opt ional >................161
5. 3. 2. 2
Low Speed Operation................... .120
8.1.1. 2
Edit Protect of Each Job ............ .161
5. 3. 2. 3
Check Operation........................ .120
5. 3. 2. 4
Machine Lock Operation ................121
5. 3. 2.1
5.4
8.1.2
8.1..2.1
Job Header Display ................... .165
STOP AND RESTART OPERATION DURING
8.1. 2. 2
Job TextCInstruct ion) Display........ .166
PLAYBACK OPERATION ........................ .122
8.1.2. 3
Command Position Display ............ .168
8.1. 2. 4
Job List l(Job Registering Order)—
Job List 2(Sort) ..................... .170
5.4.1
HOLD(Pause)
.122
5.4.2
Emergency Stop
.124
5.4.3
Stop by Error/Alarm
.125
8.1. 2. 5
5.4.4
Stop by Wire Sticking.......•
.127
8.1.3
5.4.5
5.4.6
5. 5
5.5.1
5.5.3
169
Search(.Cal 1 ing up) Operation .......... .171
8. 1. 3.1
Job Search ............................ .172
Stop during Welding
.128
8. 1. 3. 2
Step Search............................ .174
Other Stops
.128
8.1.3.3
Label Search .......................... .175
SPEED CORRECTION
.129
8.1. 3. 4
Line No. Search........................ .176
8.1.3. 5
Instruction Search ................... .177
Speed Correction by Speed Override
Specification at PLAY Mode
5.5.2
Calling up Job Display ................. .164
.129
Speed Correction by EDIT Operation
8.1. 4
at TEACH M o d e ............................ .135
8.1. 4.1
Job Header Edi t.......................... .179
Job Rename ............................ .180
8.1.4.2
Attribute(Edit Protect) Setting..... .182
8.1. 4. 3
Job Copy ................................183
8. 1. 4. 4
Job Delet ion .......................... .185
Speed Correction by TRT Operation
at TEACH M o d e ............................ .138
6 MANIPULATOR MOTION(COORDINATES)
.141
8.1.5
6.1
COORDINATES SELECTION
.142
8.1. 5. 1
Inserting Instruction................. .187
6.2
MOTION SPEED SPEC IFICATIONCTEACH PENDANT) 142
8. 1. 5. 2
Altering Instruction ................. .190
6.3
AXIS OPERATION
.143
6.4
EXTERNAL AXES SWITCHING
.143
6. 5
LINK COORDINATE SYSTEM
6.6
RECTANGULAR/CYLINDRICAL COORDINATE
.144
Registration and Edit of Instruction •• 186
8. 1. 5. 3
Deleting Instruction ................. .192
8.1. 5. 4
Correct ing Line........................ .193
8. 1. 5. 5
8.1.6
Editing for MOVE Instruction ........ .197
Work Condition Function................. .197
SYSTEM MOTION................................145
6.6.1
Rectangular/Cylindrical Coordinate
6.6.2
Rectangular Coordinate System Motion
8.1.6.1
System Selection .........................145
Creation (Registration)
of Work Condi tion..................... .198
146
8. 1. 7
8.1.7.1
7
Work Data Files.......................... .201
Selecting Condition File Display —
201
8. 1. 7. 2
Registering and
Al. 2
USER VARIABLES............................ .257
Correcting Condition File ............
203
Al. 3
User Variable............................
204
A2
ERROR MESSAGE ................................260
8.1.8.1
Calling up of User Variable Display-• 205
A3
EXAMPLE OF INSTRUCTION USI N G ................280
8. 1. 8. 2
Data Setting of Variable (Byte, integer.
A3.1
INSTRUCTION STRUCTURE ................... .280
A3. 2
PROGRAMMING TECHNIC ..................... .281
8. 1. 8
double-integer and real types) .....
8. 1. 8. 3
Data Setting of Variable
8.1. 8. 4
Confirmation of Position Registered
8.1.8.5
Deletion of Data Registered in
SYSTEM VARIABLES.......................... .258
206
A3.2.1
Operating Example of Until Statement
A3. 2.2
Operating Example of NWAIT
(Position type»........................ 207
in Position Variable
in MOVE Instruct ionCMOV □) .......... .281
........... .213
in MOVE Instruct ionCMOV □) .......... .282
A3.2.3
Selection of Speed Specification..... .283
Position Variable..................... .215
8.2
EDITING JOB ON TEACH PENDANT ............ .217
8.2.1
8.2. 1.1
Edit Instruction on Teach Pendant.....
218
Timer Instruction.....................
219
A3.2.4
Selection of Positioning Lev e l .........284
A3.2.5
MOVE Instruction for Specified
A3.2.6
Setting of Working Times
Di s t ancedinear Operation^............ .285
(Utilization of byte variable).........286
9
DATA STORAGE(FLOPPY DISK UNIT OPERATION) -• 221
A3. 2. 7
Job Selection by Pattern Input........ .287
A3. 2. 8
Example of TOP and ADV in Jump/Call
POSITION MONITORING FUNCTION BY FEEDBACK
PRECAUTIONS................................. .222
9.1
9.1.1
9.1.2
Save and Storage of Floppy Disk Unit
222
Handling and Storing Floppy Disk ..... .222
Instructiôn (Effective from V4.00)---- 290
9.2
FILE NAME INSIDE FLOPPY DISK ............ .223
A3.2.9
9.3
STORED DATA AND PROCESSING LIST ..........
224
A3.2.10
FREE CURVE INTERPOLATION FUNCTION
9.4
CONNECTING METHOD ..........................
224
9.5
PREPARATION OF FLOPPY DISK U N I T ..........
225
A3.2.11
Parallel Shift Function for Manipulator
PULSE (Effective from V4. 0 0 ) .......... .291
9.5.1
Turning Power On ........................ 225
9.5.2
Inserting Floppy Disk...................
9.6
(Effective from V4.00) ................295
with 6 Axes (Effective from V4. 00) •• 298
226
FLOPPY DISK UNIT OPERATION ............... 227
A3.2.11.1
Outline of Parallel Shift Function--298
A3.2.11.2
Composition of Parallel
9.6.1
Calling up Floppy Disks ................. 228
9. 6. 2
Formatting ............................... 230
A3.2.11.3
Parallel Shift Instruction ........ .304
9.6.3
Selecting Transmission and Processing-■231
A3. 2.11.4
Application Example
9.6.4
Related Jobs Save........................ 233
9.7
CHECKING TRANSMITTING STATUS ............
Shift V a lue .......................... .299
of Parallel Shift................... .304
235
A3.2.11.5
10
Continuous Operation of Parallel
DIAGNOSIS OPERATION ......................237
Shift................................. .306
10.1
OPERATING TIME DISPLAY................... .239
10.2
MOVING TIME DISPLAY ..................... .240
A3.2.12
10.3
INPUT STATUS DISPLAY..................... .241
A3. 2.12. 1
Funct ion ............................ .307
10.4
OUTPUT STATUS DISPLAY ................... .242
A3. 2. 12. 2
Operation ............................ .309
10.5
DIRECT-IN STATUS DISPLAY.................
243
A3.2.13
10.6
SERVO DISPLAY ............................
244
10.7
POWER ON/OFF POSITION DISPLAY ..........
245
A3. 2. 13. 1
Funct ion ............................ .313
10.8
ALARM HISTORY DISPLAY ...................
246
A3. 2.13. 2
Example of Usage ................... .315
10.9
POSITION DIAGNOSIS DISPLAY............... 248
A3. 2.13. 3
Error and Ala r m .......................316
Function (Effective from V4.0 0 ) .......307
A3.2.14
Al.l
ROBOT LANGUAGE “INFORM"
...................
250
LIST OF INSTRUCTIONS.....................
250
-
External-axis Block Function .........313
(Effective from V4.00)
APPENDIX..................................... 249
A1
Parallel Shift Job Conversion
Position Correction Function During
Playback (Effective from V4. 2 0 ) ..... .317
8 -
I
A3. 2. 14. 1
F u n d ion ............................ .317
A5. 3
A3. 2.14. 2
Operat ion............................ .318
A5. 3. 1
User Coordinates Setting...............
364
A3. 2.14. 3
Error Message and Contents .........323
A5.3.2
User Coordinates Deleting ............
366
A3.2.15
Data Save/Verify Function During
USER COORDINATES SETTING.................
A5.4
CONFIRMATION OPERATION OF DEFINITION
POINT ON USER COORDINATES ...............
367
RESET OF USER COORDINATE SETTING MODE
368
Playback (Effective from V4.2 0 ; ..... .324
A3. 2.15. 1
Operation............................ .324
A5. 5
A3. 2.15. 2
Error and Ala r m..................... .326
A3.2.16
364
A6
SETTING CUBE INTERFERENCE A R E A ............
369
Production Control Diagnosis Display
A7
ALARM DISPOSITION DURING OPERATION........
374
Function (Effective from V4.2 0 ) ..... .327
A8
ADDITIONAL OPERATION OF MANIPULATOR
MOVE V ........................................
A3. 2.16.1
Product ion Control Diagnosis
Display................................327
A8. 1
A3. 2. 16. 2
Operation............................ .328
A8 . 1.1
ALARM AND DISPOSITION ...................
375
375
Adding SPECIAL (Special Linear' to Move
Instruction for Interpolation Operation
A3. 2. 16. 3
A3.2.17
near S-axis Rotation Center ..........
List of Related Parameters .........329
376
Tool Angle Indexing Function
(Effective from V4. 20' ................330
A8. 2
INSTRUCTION FOR SPECIAL LINEAR
A3.2.17.1
Outline of operation ................330
INTERPOLATION'SPECIAL LINEAR: ..........
377
A3. 2. 17. 2
Operation............................ .331
A8. 3
ALARM CODE.................................
377
A3. 2. 17. 3
Error and A l arm..................... .334
A8.4
SETTING METHOD OF SPECIAL LINEAR........
379
A9
A3.2.18
COMPARISON OF YASNAC ERC AND YASNAC RX----
382
A9. 1
COMPARISON OF OPERATIONAL FUNCTION.....
382
F u n d ion ............................ .335
A9. 2
COMP\RI SON OF INSTRUCTION ...............
384
SOFT KEY T R E E ...............................
385
External Axis Endless Rotation
Function (Effective from V4.2 0 ) ..... .335
A3. 2. 18. 1
A3.2. 18.2
Instructions .........................336
A10
A3. 2. 18. 3
Operation............................ .337
A10.
WHERE
A3. 2. 18. 4
Precautions.......................... .339
A10. 2
WHERE
A3.2.19
KEY IS DEPRESSED...............386
KEY IS DEPRESSED
IN JOB HEADER DISPLAY-
Shift Amount Creation Function
A10. 3
(Effective from V4. 2 0 ) ................342
A3. 2.19. 1
F u n d ion ............................ .342
A3.2.19.2
MSHIFT instruction editing method-■344
A3. 2.19. 3
Typical program..................... .348
A3. 2. 19. 4
Error and alarm..................... .348
A3. 2.19. 5
Teaching example ................... .349
WHERE
KEY IS DEPRESSED
IN JOB TEXT DISPLAY-
A10. 4
WHERE
ewt
A4. 2
A10. 6
MEANING OF TOOL CONSTANT................. .351
Setting of Calibrating Tool Data ..... .352
A4. 2. 2
Setting of Reference Point............ .355
A4.2. 3
Setting of Standard/Multiple
KEY IS DEPRESSED
WHERE
IN POS EDIT DISPLAY-
DESCRIPTION OF TOOL DATA................. .351
A4.2.1
A10. 7
WHERE
e d it
A10. 8
WHERE
395
KEY IS DEPRESSED
IN WEAVING DISPLAY
Tool Data ................................357
396
KEY IS DEPRESSED
IN UNIV.OUT
DISPLAY
396
MOVEMENT OF MANIPULATOR AFTER
A10. 9
SETTING TOOL DATA ........................ .359
A4. 4
NOTE FOR INTERPOLATION OPERATION.........359
A4. 5
TOOL FILE STORING .........................360
A5
394
TOOL CONSTANT CALIBRATION FUNCTION.........351
A4. 1
A4. 3
394
KEY IS DEPRESSED
WHERE
IN VARIABLE DISPLAYA4
391
KEY IS DEPRESSED
IN JOB LIST DISPLAYA10. 5
390
USER COORDINATE FUNCTION...................
USAGE OF USER COORDINATES ............... 362
A5. 2
DEFINITION OF USER COORDINATES..........
KEY IS DEPRESSED
IN WORK HOUR DISPLAY ................... .396
361
A5. 1
WHERE
A10. 10
WHERE f ^ l K E Y IS DEPRESSED............ .397
A10. 11
W H E R E ü==! KEY IS DEPRESSED ........... .399
A10. 12
WHERE ! ^ = j KEY IS DEPRESSED............ .400
TEACH
| P LA Y ]
363
-
9
CONTENTS
BASIC OPERATION
Q
Page
SWITCH, BUTTON AND KEY FUNCTIONS
15
BASIC OPERATION SEQUENCE
47
0
TURNING POWER ON/OFF
49
^
TEACHING
53
e
PLAYBACK OPERATION
109
^
MANIPULATOR MOTION (COORDINATES)
141
APPLIED OPERATION
APPLIED OPERATION SEQUENCE
157
0
JOB EDIT
159
(§ )
DATA STORAGE (FLOPPY DISK UNIT OPERATION)
221
DIAGNOSIS OPERATION
237
APPENDIX
249
-
11 -
BASIC
OPERATION
-
13 -
SECTION
1
SWITCH, BUTTON AND KEY FUNCTIONS
-------------------------------------- --------------------------------------------- -
This section describes the following items.
• Approximate function of controller, operator’s panel and teach
pendant
• Description of soft keys and CRT
display
• How to input data
CONTENTS
page
1
S W IT C H ,B U TTO N A N D K E Y F U N C T I O N S ........ 15
1. 1................... POWER S U P P L Y SWITCH ON C O N T R O L LE R •• 16
1. 2
O P E R A T O R 'S P A N E L K E Y F U N C T IO N ........... 17
1. 2. 1
1. 2. 2
1. 2. 3
Pu shbuttons ................................................................................................ 18
F l a t k e y s ......................................................................................................... 19
Sub Panel ..................................................................................................... 22
1. 3
FU NCTIO N OF T E A C H P E N D A N T ........................23
1. 3. 1
1. 3. 2
1. 3. 3
M a n u a l O peration S e c t io n .......................................................................25
Check Section of L o c u s ...........................................................................26
R e g is tra tio n and E d it Section of Reference ................................ 27
1. 4
SOFT K E Y F U N C T I O N .............................................. 30
1. 4. 1
1. 4. 2
1. 4. 3
C onstruction of Soft K e y L a b e l s ..........................................................30
D es ig n atio n of Soft K ey L a b e l s ..........................................................30
C a llin g Up Soft K ey L a b e l s .................................................................. 33
1. 5
D I S P L A Y C O N S T R U C T I O N .....................................34
1. 5. 1
1. 5. 2
1. 5. 3
D is p la y Construction on O p e ra to r's P a n e l .................................... 34
D is p la y C a llin g U p ................................................................................... 35
Teach Pe n d an t D i s p l a y ........................................................................... 36
1 .6
DE SCRIPTION OF CRT D I S P L A Y ........................ 37
1.
1.
1.
1.
1.
1.
Basic F o r m a t ................................................................................................ 37
Status D is p la y A r e a ............................................................................... 37
H u m a n Interface D is p la y A r e a ..........................................................38
C R T D is p la y C o n t r o l ............................................................................... 39
A u to m a ti c B rightness C o n t r o l .............................................................. 39
C R T D is p la y O F F ................................................................................... 39
6. 1
6. 1. 1
6. 1. 2
6. 2
6. 2. 1
6. 2. 2
1. 7
D A T A I N P U T ................................................................. 40
1.
1.
1.
1.
N u m e r i c V a lu e I n p u t ............................................................................... 40
C h a ra c te r I n p u t ............................................................................................ 42
C A N C E L K ey F u n c t i o n ........................................................................... 44
E N T E R Key F u n c t io n ............................................................................... 45
7. 1
7. 2
7. 3
7. 4
-
15 -
I
1. 1 POWER SUPPLY SWITCH ON CONTROLLER
M ain pow er sw itc h is p ro v id ed on th e fro n t door of co n tro ller.
YASNAC
ERC
(MAIN POWER SWITCH)
• Turn switch to ON ;
control power is supplied to
YASNAC ERC controller.
• Turn switch to OFF ;
control power is cut off in
YASNAC ERC controller.
I ■-*
„>Ï>, ;t|
ir . f ? '
•
' -ik :J y i X î î « j &
Fig.
.>. i? ■
"
1.1
Controller
-
16 -
YASNAC
ERC
*.
^r*1*VÎ
1. 2
OPERATOR’S PANEL KEY FUNCTION
®
CRT DISPLAY is constructed so that data can
ESTO P
be seen easly.
• 9-inch CRT display
• 22-lines, 32 characters
(66 characters in half-size character)
®
FLAT KEYS arranged according to their func
tion.
• Control keys for manipulator operation
FUNCTION
(Servo power, start, hold)
M »>
[la it]
• Keys for display switching and data input/
fej B
edition
• Soft keys for interactive operation
CURSOR
D D
□ □
DATA
O
B
B
B
D
O
O
O
■
D
B
D
B
-
b
n n i
B
Q
StflVO POWER ■
tto t
Q
|
i
START
HOLD
E E 3 ■
YASNAC
AUXILIARY PANEL is the following parts.
PUSH
ER C
®
INTERNAL AUX. PANEL
• Receptacle of 100 VAC power (for floppy)
• Connector for floppy and personal computer
connection (D-SUB connector)
• Overrun recovery switch
• Edit lock with key (Memory protect)
Fig. 1 .2
Operator’s Panel
NOTE
If o p e r a to r ’s p an el is n o t o p e ra te d fo r m ore th a n ab o u t 10
m in u tes, th e CR T d isp la y b rig h tn e s s au to m atica lly lo w ers
in o rd e r to p re v e n t d e te rio ra tio n of th e CR T d isp lay .
-
17 -
Pushbuttons
Cuts only the servo power to the manipulator and stops It immediately.
The SERVO POWER key lamp
is tu rn ed off and CRT display will show a message.
T h is sw itc h is locked by p u sh in g it an d re le a se d by tu rn in g it in th e d ire c tio n of th e arro w .
D epress SERVO POWER key
to supply the servo pow er again.
Starts the manipulator automatic operation in the PLAY mode only.
If th e s ta r t from o p e r a to r ’s p an el is p ro h ib ite d , a n e r r o r w ill occur.
W h e n th e autom atic o p e ra tio n is p o ssib le, th e S T A R T lam p rem a in s lit.
Stops temporarily manipulator motion in any mode.
HOLD lam p is lit w h ile HOLD p u s h b u tto n is d e p re sse d .
S ta r t an d a x is o p e ra tio n s ca n n o t be execu ted .
If the lam p is tu rn e d off by re le a sin g th e p u sh b u tto n , th e m a n ip u la to r rem a in s at sto p
u n til th e n e x t s ta rtin g is desig n ated .
In th e follow ing ca ses, HOLD lam p is lit au to m atica lly to in d ic ate th a t th e sy stem is
on HOLD.
• HOLD o p e ra tio n on th e te ac h p en d an t.
• HOLD sig n al is rec eiv e d th ro u g h sp e cia l in p u t.
• HOLD re q u irm e n t from e x te rn a l co m p u ter in th e RE M O T E mode.
• D u rin g w elding.
-
18 -
1. 2. 2
Flat Keys
[SERVO POWER : T u rn s on se rv o p o w er.]
Lights when servo power for all axes is turned on.
[~OÑ~l
To cut off it, depress
key.
MODE : E x ec u tes autom atic o p e ra tio n by teaching, p lay b ack , e x te rn a l referen ce.
T h e selected
key lam p is lit.
Enables automatic manipulator operation of the taught job.
|p
l a y
)
Enables axis operation on teach pendant and editing operation on the operator’s
panel.
If E D IT LOCK is set, only ax is o p e ra tio n is p o ssib le an d th e d a ta ca n n o t be changed.
M B
HEM0TEj
Enables automatic manipulator operation by the designation through an external
computer.
T h is key does n o t resp o n d in a s ta n d a r d system .
[CYCLE : S elects o p e ra tin g m ethod in p la y b ac k for sp ecified jo b .]
191
Operates the master job repeatedly.
1AUT0I
E x ce p t f o r m a ste r jobs, m a n ip u la to r ex ecu tes th e job once an d sto p s.
Operates the selected job once.
Operates one step of the job each time the STEP key is depressed.
-
19 -
1. 2. 2
Flat Keys (Cont’d)
[ FUNCTION : C hanges th e soft key la b els sh o w n on CRT, an d ca lls up th e d e s ire d la b e ls.]
"rap
Calls up the soft key labels to select CRT display (display text).
Calls up the soft key labels for data editing.
T h is key ca n n o t be u se d w hen E D IT LOCK key is s e t on su b p an el o r w h en th e d isp lay is
for any fu n ctio n o th e r th a n ed it o p era tio n .
OP1
OP2
Calls up the soft key labels to select floppy disk operation display and optional
function display.
Normally this key is not used.
[CURSOR]
O D
Moves the cursor on the CRT display in the direction of the arrows.
□ D
W hen
O D
keys are depressed sim ultaneously, the cu rso r is placed on the u pper —left
portion of the display.
T h e size an d m ovable s p h e re of th e c u r s o r a re d eterm in e d p re v io u sly d e p e n d in g on each
d isp lay .
[DATA]
O Q Q
Inputs numeric values when soft key label for numeric input is displayed.
O Q O
O D D
OB
Minus for assigning a negative number
Cancels erroneous input data or error status with message.
Reserve key.
When the characters are input, inputting as character # , is possible.
-
20 -
I
Designates the execution of each process for search or editing operation of data.
By d ep ressin g this key, the data inside the input buffer line are registered, modified,
or inserted the cursor position.
If this key is depressed while a character display appears, the characters designated by the
cursor will be input in the input line.
To release character input, depress
Exit
soft key.
[CRT OFF]
CRT
OFF
Deletes the display on CRT. The deletion is released by depressing this key
again and the previous display reappears.
[SOFT KEY]
[~iï~j [W] Corresponds to the function of soft key labels at the bottom of the CRT display.
Calls up the next five soft key labels of the same level while the
appears at the lower right portion.
symbol
Calls up the soft key labels one rank higher than the soft key being displayed.
If this key is depressed before
ENTER
-
key is depressed, the input operation will be disabled.
21 -
1. 2. 3
O FF
on
“
Sub Panel
(Optional)
Prohibits the editing operation from the operator’s panel or teach pendant at ON
position.
At this time,
I
e d it
j
T h is sw itc h is u sed w ith a key.
Key cannot be operated.
T h e key can be pu lled o u t at ON position.
E ven if E D IT LOCK is set, th e d a ta is sa v ed in a floppy disk.
OVERRUN
RECOV ERY
o
Releases momentarily the overrun status (OT— LS : when overrun limit switch is
operated) while this key is depressed.
If the servo power is turned ON again at overrun status, depress “ | pN j SERVO” key while
holding down this pushbutton.
Then overrun status can be avoided by axes operation on the
teach pendant.
If this pushbutton is depressed when OT —LS is not operated, servo power is cut off and an alarm occurs.
D ®
® H
Transmission (D—SUB) connector for floppy disks.
By u sin g an o ption functio n , co n n ectio n w ith a p e rso n a l co m p u ter is also p o ssib le.
H ow ever, th e p e rso n a l co m p u ter m odels an d fu n ctio n s th a t can be accessed a re lim ited.
C o n tac t y o u r Y ask a w a re p re se n ta tiv e .
A C 100V 0 . 5 A
Power for floppy disk.
This cannot be used for any other purpose.
a
-
22 -
1 .3
FUNCTION OF TEACH PENDANT
Display for contents of registration and
setting
□
a
+ + + + + + + + + + + +
COORD
■
MAN SPD MtypeN
P JOINT ■
■ 0 6 ^
■
■ I
■
T TOOL ■
FST
■
MED
* " L N R
— JOINT
SLW
■ - ^ C l f iO
\
USER
HIGH
SPD
EXT^
AXES
Xs** ""
x+
s+
R-
XXS.
ft +
V
B-
8+
Z
T-
T+
«
Manual operation section
'
YL-
Yt
z-
Z+
u+
U-
T
V
w
( ,)
V
J M
['■■I
II M O B F v l fI DELETE I
TIMER
p6 F .
LVI
r
TOOL
REF
PNT
Ç5 5 5 5
-n
INSERT
IMOTION
O il
>
Check section of locus
Registration and edit section of reference
PLAY
SPD
- a
MOOlFY
§/h s§m 1s s i
I
Fig. 1.3
-
Teach Pendant
23 -
I
1. 3 FUNCTION OF TEACH PENDANT (Cont’d)
T ea ch p e n d a n t en a b le s the o p e ra tio n of th e m a n ip u la to r an d te ac h in g of th e loci.
eleven se rv ic e k eys as show n below .
T each p e n d a n t has
T h e lig h tin g key is effective.
• R e g istra tio n as m oving refe re n c e
S pecify to re g is te r m oving referen ce.
R e g istra tio n fo r re fe re n c e re la te d to M otom an m ovem ent
........ S pecify to re g is te r tim er referen ce.
B U I ........ S pecify to re g is te r tool referen ce.
■
........ S pecify to re g is te r refe re n c e point.
O th e rs
S pecify to check o u tp u t s ta tu s an d sim u latio n .
S pecify to re g is te r re fe re n c e ac co rd in g to ap p licatio n .
^■Basic Operation of Service Keys.
Lit
m
«if
Depress any
=>
service key.
r Di
Displays the
data
L on teach pendant
The specified reference will "1
L be
registered or altered.
-
24 -
J
[" After depressing
L
ADDR
RECORD
key, "I
key lamp will light.
it.
J
1. 3. 1 Manual Operation Section
Enables operation on the teach pendant while the ENABLE key lamp is lit.
TEACH
ENABLE
c W,
PENDANT
+ + + + +- + + + + + + +
W hen
EXT
A XES
key is d ep re ssed , th is lam p is lit.
(E x tern al ax is select)
Used when the external axes are to be operated by axis operation keys.
T h is key is ac tiv a te d in sy stem w ith ad d ed e x te rn a l axes.
(A xis o p e ra tio n keys)
Moves specified axis on manipulator in specfied coordinates while the key is
depressed.
W here the
EXT
AXES
key is set, the specified axis on external axis will be moved the same as
an axis on m anipulator.
HIGH
SPD
(High speed)
Moves manipulator at high speed while this key is depressed.
High speed is a o ne-step speed and h ig h -s p e e d m ovem ent is fo r one axis.
(C oordinates)
Selects coordinate system for manual operation.
F o u r k in d s of c o o rd in a te sy stem s [Jo in t, w o rld (re c ta n g u la r)/c y lin d ric a l, tool, u ser] c a n b e selected .
The selected coordinate lamp
on teach pendant will light.
I I r to o l
(M anual speed)
Sets the speed for manual operation (including FORWARD/BACKWARD).
T hree speed steps (fast, medium, slow) and inching are selectable.
The selected speed lamp
□
□
fst
MED
-
25 -
I
Check Section of Locus
/-C O N T
(C o n tin u o u s/S tep )
Designates the operation mode to check the taught locus.
STEP —
D u rin g locus confirm atio n , th e co n tin u o u s o p e ra tio n m ode (to confirm as a co n tin u o u s
locus) o r th e ste p o p e ra tio n m ode (to confirm th e ta u g h t p o sitio n for each step) can be
selected.
— HOLD
(H o ld /B a ck w ard )
Operates the taught locus in the opposite direction.
‘ < B W p| -
If th is key is d e p re sse d d u rin g p lay b ack , th e key is u sed as HOLD sp ecificatio n .
— START
(S ta rt/F o r w a r d )
Used to check the taught locus.
|FWD>
M a n ip u la to r m oves only w h ile th is key is d ep re ssed .
T he
motion
□
speed
d iffers
depending
on
f-CONT
key.
STEP —
-
26 -
operation
mode
designation
set
by
using
1. 3. 3
Registration and Edit Section of Reference
Decreases
the displayed numeric value data.
Increases
ON
While
OUTPUT
key is selected, these keys enable control by output relay.
Shifts the display one column to the left if the data is more than 12 columns and
cannot be displayed at the same time.
(A d d ress)
Searches the address.
T h e te x t of the ta u g h t in s tru c tio n is d isp lay ed .
Checks the output status with display.
O utput is controlled by dep ressin g
key or
ON
OFF
key w hile holding down th is key.
r Function Key Use : T h e fu n ctio n s of th e se k ey s d iffe r d ep e n d in g on use.
]
'-In s ta n d a rd sp e cific atio n s, th e fu n ctio n s of th e se k ey s a re allo cated for w elding.
Key
■
■
■
■
A rc w elding
F o r a rc ON in stru c tio n .
D esig n ates w o rk conditions.
Spot w elding
F o r gun ON in stru c tio n .
D esig n ates w o rk co n d itio n s.
F o r a rc O F F in stru c tio n .
D esig n ates w o rk conditions.
—
H an d lin g
F o r h an d lin g ON
in stru c tio n .
D esig n ates w o rk
co n d itio n s.
F o r h a n d lin g ON
in stru c tio n .
D esig n ates w o rk
co n d itio n s.
F o r w eld in g voltage
in stru c tio n .
E n ab les change d u rin g
o p era tio n .
G un o p e ra tin g o u tp u t 1.
H an d lin g o p e ra tin g
o u tp u t 1.
F o r w eld in g c u r r e n t
in stru c tio n .
E n ab les change d u rin g o p era tio n .
G un o p e ra tin g o u tp u t 2.
H an d lin g o p e ra tin g
o u tp u t 2.
-
27 -
1. 3. 3
Registration and Edit Section of Reference (Cont’ d)
Enables registration of the timer instruction or changing the setting value.
(Position)
Performs the following operation during playback.
• Positioning to the taught point
• Positioning designation of the desired step inward operation
• Setting of positioning zone level
Designates motion type of Motoman at playback.
T hree motion types (joint, linear, circular) are selectable.
The selected motion type lamp
MOTION
TVPE
Changes tool coordinates and registers tool instructions.
If u s e r c o o rd in a te s a re selected , u s e r co o rd in a te fra m es w ill be affected.
N ote : T h is key is an optio n al function.
(R eference point)
Registers the necessary reference point (wall point, corner auxiliary point, etc.) to
move the manipulator at weaving.
(P lay speed)
Sets the motion speed at playback.
E ig h t p la y speed ste p s can be re g iste re d .
C hanging sp eed is p o ssib le d u rin g p lay b ack .
(E x te rn a l ax e s m odifying)
Modifies only external axes data of the position data already taught.
-
28 -
«LETE
INSERT
-3
MOOIFY
Deletes the instruction already taught.
Inserts new instruction.
Modifies the position data and instruction already taught.
Inputs the data.
Be s u re to d e p re ss th is key w hen d e s irin g to re g is te r an d ed it th e in stru c tio n from teach
p en d an t.
-
29 -
1. 4
SOFT KEY FUNCTION
1. 4. 1 Construction of Soft Key Labels
F iv e so ft k ey s a re m ounted ju s t below th e CRT d isp lay .
D e p re ss th e se soft k ey s to p erfo rm d e sire d o p era tio n s.
T h e fu n ctio n s m atch in g th e soft k ey s a re d is
play ed on th e bottom line of th e CRT d isp la y as so ft key labels.
T h e so ft key la b els a re h ie ra rc h ia l
s tru c tu re , as show n in F ig. 1. 4.
Level 1
Level 2
Level 3
Level 4
Fig. 1 .4
1. 4. 2
Construction of Soft Key Labels
Designation of Soft Key Labels
D e p re ss th e so ft key to d esig n ate d e s ire d so ft key labels.
SOFT KEYS
Fig. 1 .5
Correspondence between Soft Keys and Soft Key Labels
-
30 -
O nly five soft key lab els a re d isp la y e d at one tim e.
level,
a
If th e re a re m ore th a n five lab els in th e sam e
m ark is d isp lay e d a t th e rig h t edge of th e so ft key labels.
T hose key labels w hich are not displayed can be called up by d epressing the
soft key
>
key to the right of
F5
the
same
labels in the same level.
1
2
3
4
5
V___________________________________ ./
1
2
3
4
5
V,____________________________________ J
Group 1
Group 2
If group 1 and group 2 are in the same level, these soft key labels
are sequentially displayed each time the
Fig. 1 .6
-
{>
key is depressed.
Catling up Soft Key Labels in the Same Level
31 -
1. 4. 2 Designation of Soft Key Labels (Cont’d)
To trace back one level, d epress [3] key to the left of soft key | n |
Level 1
Level 2
<3J
| F1
F3
F2
F4
F5
o *
D e p re ss th is key to tra c e back one level.
Fig. 1 .7
Backtrace of Soft Key Labels
-
32 -
1. 4. 3
Calling Up Soft Key Labels
D e p re ss th e follow ing mode k eys o r fu n ctio n k ey s on th e o p e r a to r ’s panel to call up th e top label
(level 1) of the d e s ire d soft key.
MODE KEY
L abels d ep en d on th e d isp la y e d screen .
(T hese la b e ls a re in th e JOB T E X T d isp lay )
>
Floppy
Tool
User coord
SPEC.PNT
O P T IO N
T « r a N orm ally, th is key is in te rlo ck e d to d isa b le usage.
T h is is used for m a n u fa c tu rin g /sy s te m m ain ten an ce.
-
33 -
I
1. 5
DISPLAY CONSTRUCTION
A v a rie ty of d isp la y s in th e sy stem is d isp la y e d on th e o p e r a to r ’s p an el and u sed w ith d ialo g form.
T he d isp la y for te a c h in g is also co nfirm ed on th e te ac h p en d an t.
T h e d isp la y c o n s tru c tio n an d d isp lay
callin g up a re d e sc rib e d below.
1. 5. 1 Display Construction on Operator’s Panel
T h e o p e ra to r’s p an el of Y A S N A C E R C h a s 10 d iffe re n t b asic displays.
(Display)
PLAYBA CK
(PLAY MODE)
(Option)
Displayed first when control power is turned
on. This display shows the process and re
sults of internal initial diagnosis.
A/Vhen the system is confirmed as normal after
initial diagnosis is completed, this display will
Vappear.
Display appears
when job or file
is copied.
Display appears
when job or tool
name is registered.
COPY
C H AR A C TER
-
34 -
1. 5. 2
(1)
Display Calling Up
W h en d e s irin g to call up d isp la y s th a t a re fre q u e n tly used.
H ow to Call Up Job D is p la y
Job display
Page i
(2)
PageT
Dispchg
Search
W h en d e s irin g to call u p d isp la y s th a t a re n o t fre q u e n tly u sed o r of o p tio n al fu nctions.
- H o w to Call Up Floppy D isplay- — -.....
Floppy
OP1
i>
F lop py d is p la y
Soft key
F1
(Depress this key)
(Depress this key)
Load
Save
V e r if y F o r m a t t i n g
Tool
User coordinate set
■Three dimentional shift (Option)
(3)
O th e r s
<Case>
• M a in p o w e r is tu r n e d o n :
< S h o w n d is p la y )
START UP
• Alarm occurs:
ALARM
COPY
• J o b o r f ile is c o p y in g :
• J o b o r to o l n a m e is r e g is te r in g :
CHARACTER
-
35 -
(fe w seconds later)
TITLE
D elete
T
1. 5. 3 Teach Pendant Display
T he te ac h p e n d a n t h a s a 12 d ig it d isp lay .
It can show v a rio u s d a ta needed d u rin g teaching.
If th e d isp la y d a ta a re m ore th a n 12 d ig its in length, d e p re s s
m oving the d isp lay to the left.
L
0
0
<
(shift) key to check d a ta by
T o change the d isp lay , d e p re ss e ith e r one of the follow ing keys.
2 1
1
O
0
C
K
0
- ¡ O N
3
(Display of teach-lock status)
M O V
J V = 5 0 .0
(Display of line, step, and instruction text)
0 I u
T
1
j
0
O! N
j
fDisplay of relay No., output status,^
I
)
Vand signal name
A R
C
O
* ('Display of Arc ON instruction and
N
vcondition No.
R
C
*
1 5
O
('Display of Arc OFF instruction^
)
Vand condition No.
V
w
1 4
L D
E
0 0
*
('Display of welding voltage^
Vinstruction value
1 4 1-
j A )W j E ) L ] D )
0 0
('Display of welding current^
vinstruction value
1 2
3
4
5
S E
c
)
)
(Display of timer setting value)
Display of tool No. at selection,
T 0
F
R
0
A
L
M
^
except user coordinate
8
Display of frame No. at selection
E
user coordinate
P
L E V E L
R E F P
6
3
2
(Display of position level)
1
7
5
(Display of reference point No.)
0 M M /
S
• For linear or circular
j
Display of
interpolation specification > Play-speed
6
2
5
0 0 %
T h e d isp la y d iffe rs d ep e n d in g on th e ap p licatio n .
• For link specification
J
setting value
T h is is an exam ple of arc w elding.
T h e d e ta ils of each d isp la y a re d e s c rib e d in se c tio n s for o p e ra tio n of th e v a rio u s fu n ctio n s.
-
36 -
1. 6
DESCRIPTION OF CRT DISPLAY
1. 6. 1 Basic Format
T h e CRT d isp la y is d iv id e d into th re e a re a s as show n in F ig. 1. 8.
T h e u p p e r s ta tu s and low er hum an in te rfa c e d isp lay a re a s a re fixed d isp lay are a s, and alw ay s
d isp la y th e sam e data.
T h e c e n te r p a r t of the d isp la y is a g e n e ra l-p u rp o se d isp lay a re a and a v a rie ty of d a ta a re d isp lay ed
by soft key selection.
T h e fixed d isp la y a re a s a re d e sc rib e d below.
T h e g e n e ra l-p u rp o s e d isp lay a re a is d e sc rib e d in the
se ctio n s fo r th e v a rio u s functions.
1. 6. 1. 1
Status Display Area
T h is a re a sh o w s th e sy stem s ta tu s data. (Fig. 1. 9).
d ated as s ta tu s changes.
T h e d isp la y item s are alw a y s d isp lay e d o r are u p
T h e follow ing in fo rm atio n is d isp lay ed .
( 1)
M ode d u rin g se lectin g
(2 )
Job nam e an d a d d re s s d u rin g ex ecu tio n
(3)
S ta tu s d u rin g ex e cu tin g
(4)
C a le n d a r/T im e (h o u rs ; m inutes)
(5)
Level of job sta c k ----------------------------------
U su ally d isp lay ed .
D isp lay ed o nly w hen th e call in s tr u c
tio n is executed.
(6 )
D isp lay of b a tte ry s ta tu s -------------------
D isp lay ed w hen b a tte ry is low.
(7)
D isp lay nam e d u rin g d isp la y -------------
U su ally d isp lay ed .
(8 )
Job nam e an d a d d re s s d u rin g ed itin g
(9)
S ta tu s d u rin g e d itin g
D isp lay ed only d u rin g editing.
M ASTER
(2 )
JO B
NAM E
/
j
( 1 ) - K PLAYBACK MODE ACTV-JOB
(4)4— 87. 04. 0 2 .1 0 :1 2 ’
•■•MASTER JOB: C l •••STOCK
( 7 ) 4 « - JO B
TEXT
EDIT-JOB
LEVEL
(8)
Fig. 1 .9
Status Display Area
-
37 -
^
(5)
ON STOP
BATTERY
-(3)
ON COPY
-(9)
-(6)
1. 6. 1. 2
Human Interface Display Area
T h is a r e a d is p la y s d a ta for hum a n in terface and co n s ists of four lines.
(1)
Message line
(2)
Input buffer line
(3)
Input lin e ----------
(4)
Soft key label line -
Fig. 1 .1 0 Human Interface Display Area
(1)
Message line
A variety of m essages for dialog and error m essages are displayed on this line.
error message, operation cannot be continued.
Depress
CANCEL
W hile displaying an
key to eliminate error message.
W h e n th e re a re some messages, the p ro m p t “ = = > ’’ on m essage line blinks. T h e o th e rs m essages
will be d isp lay e d by d e p r e s s in g
(2)
and
In p u t buffer line
T h e in s tru c tio n s d u r in g in p u t a r e displayed.
mg
(3)
key s sim ultaneously.
ENTER
T he i n s t r u c t i o n on th is line is re g iste re d by depress-
key.
In p u t line
N um erical valu e d u r in g in p u t by D A T A key s is d isp lay e d on th is line.
(4)
Soft-Key label line
A m axim um of five soft key labels a re displayed.
If more th a n five soft key labels exist, the
m a r k is disp lay e d a t th e r ig h t edge. If th e re a r e less th a n five labels, th e su rp lus labels a r e blank,
an d do not hav e functio ns allocated to them.
Refer to P a r . 1 . 4 for the d etails of the soft key labels.
-
38 -
1. 6. 2
CRT Display Control
1. 6. 2. 1
Automatic Brightness Control
T h e autom atic b r ig h tn e s s co ntro l function p r e v e n ts the d e te rio ra tio n of the CRT d isp lay caused by e x
te n siv e o p e r a tin g time, etc.
T h e CRT d isp lay b r ig h tn e s s auto m atically d ec reas es if the o p e r a t o r ’s panel is not o p e ra te d for
m ore th a n 10 minutes.
If the b r ig h tn e s s is low and the CRT is d ark , norm al b r ig h tn e s s is resu m ed
w h e n e v e r any of th e k e y s on the o p e r a t o r ’s panel is dep re ssed .
1. 6. 2. 2
CRT Display OFF
If the d isp lay on the CR T is not needed, it can be tu r n e d off in o r d e r to p re v e n t CRT display
deterio ratio n .
T h e a larm code is d isp lay e d if an alarm o cc u rs even if th e re is no display.
alarm code is tu r n e d off again afte r the alarm is reset.
T h e CRT d isp lay is tu r n e d off as follows at any time.
Lam p.
If it is d e p r e s s e d once, the d isp lay will d isa p p ea r.
CRT
OFF,
again and the d isp lay will re a p p e a r.
D e p re ss this key
W hile the d isp lay does not appear,
the lamp is lit.
Once set, the CRT re m a in s tu r n e d off until
it is reset.
If the s ta tu s is O F F w h en p o w
er is tu r n e d off, only th e s ta rt -u p d isp lay
will a p p e a r w hen po w er is tu r n e d on again.
A fte r the initial diagnosis, the CRT d isplay
is r e s e t to th e s ta tu s at the tim e of pow er
OFF.
-
39 -
T h e CRT
1.
7
D A T A IN P U T
T h e r e a r e ro u g h ly four m ethods to in p u t data.
(1)
“N um eric v a l u e ” in p u t by u sin g n um eric value keys.
(2)
" C h a r a c te r ” in p u t by usin g the c h a r a c te r display.
(3)
“Selection valu e (O N /O F F etc)" in p u t by usin g the soft keys.
(4)
“V a r ia b le D a ta ” in p u t th ro u g h the tra n s m is s io n line or the floppy disk.
Only basic o p e ra tio n s a r e explained here.
1. 7.
1
F o r th e individual in p u ttin g methods, see each section.
Numeric Value Input
T h e message “E n te r v a l u e ” autom atically a p p e a r s in the m essage line if n um erical in p u t d a ta is needed.
N um erical d ata in p u t by usin g D A T A keys is possible only if the message ap p e a rs.
T he num eric value
being in p u t is d isp lay e d in the inp ut line.
In c o rre c t in p u t can be co rre c te d by soft key labels w hich a p p e a r at th is time.
= = >
Data key
ODD
O D Q __
ana
1 .
E nter
v a lu e .
fT T T T T fe-r-'l n p u t
H
(See T ab le 1 . 1 . )
lin e
Back space
E x it
F4
F5
r
F1
The input values
The values
“1, 2, 3, 4, 5” are
are registered
displayed on the
by depressing
input line.
this key.
F2
Fig. 1.11
-
40 -
F3
Numerical Value Input
Table 1.1
Soft key Label
Cursor Setting Method for Data Correction
M eaning
D ep ressed key
T h e c u r s o r moves one space to
the left.
*
Back space
--
'
If the
F2
T he c u r s o r moves one space to
the right.
F3
Indication
1
2
3
4
5 M«—C u r s o r
1
2
3
4
@
□
2
3
£
3
4
5
4
5
5
10
T h e d a t a on the c u r s o r is
deleted.
I F4
-
T h e m inus is a b b e b p reced ing
th e cursor.
T h e n um erical d a ta is added
p re c e d in g the c u r s o r by
d e p r e s s in g D A T A key.
( e x)
0
□
2
3
4
0
3
4
5
0
3
5
-
0
4
£
3
0
3
0
0
key is depressed, the all instructions during input are canceled.
-
41 -
4
£
3
4
5
5
4
5
1. 7. 2
Character Input
T h e following soft key labels a p p e a r w hen c h a r a c t e r s can be input.
d isp lay the d esignated c h a r a c t e r display.
D e p re ss the
ABC
soft key to
In put c h a r a c t e r s usin g this c h a r a c te r display.
a b c - ABC
P age i
Page Î
— A lp h a b e t ( ca p ital/sm a ll letters) d isplay will a p p e a r by d e p r e s s in g th is
soft key.
W hen
t>
key is d ep re ssed , the following soft key labels a re displayed.
B ack s p a c e
E x i t
R e tu r n s from c h a r a c te r
-------d isp la y to the prev io u s
display.
D eletes one
character
on
the
left of the c u rso r, in in p u t buffer
line.
Moves the c u r s o r to the r ig h t in
in p u t buffer line.
Moves the c u r s o r to th e left in
in p u t b u ffe r line.
Fig.1 .1 2
Soft Key Labels Display for Character Input
-
42 -
★
Character Input Operation
— How to Register Job (Name)1
SOFT KEYS
Job
reserve JOB
i
ABC-ABC
1P a g e
1
l
; !Page !
O'------------------------------------------------------------------------------- —------------
F1
F3
F4
F2
F5
<1
>
-------------------------------------------- V \ ---------------
<l
F1
H fx
F2
F3
F4
F5
')
>
CURSOR
D
A B C D E F G H I J K L M
N O P Q P S T U V W X Y Z
a b c d ef g h i
r= >
jklm
i= >
nopqr s tuvwxyz
The specified
Specify the
alphabet is displayed
desired alphabet.
on input line.
Repeat these operation until
Character Display
the alphabets are input completely
E x it
-
.
<3
F1
F2
F3
F4
F5_ c >
—
^—
0
Returns from character display
The job name has
to the previous display.
been registered.
B i a a 1 • T h e following c h a r a c t e r e s c a n n o t be use d for re g is tra tio n of job name.
(SPACE) ( ' ) ( * ) ( + ) ( ,
« ) ( = )(» (? )(
2.
Before the
)(.
[)(¥)(]
)(/)(:)(;)
)( | )
Exit
ENTER
key is d e p re sse d , d e p r e s s
name in the c h a r a c t e r display.
-
43 -
soft key to r e g iste r the job
★
C h a ra c te r C o rre c tin g O p e ra tio n
—
H ow to C orrect from A B C X E to A B C D E .
•CURSOR
Backspace
i
|
_li
i
Exit
1
!l
I Backspace| 1
Exit
1
1
-
[<JI
F1 II
F3
F4
F5
>
|0
Move the cursor one space to the right of the
|| F1
j|
F2 || F3 || F4^
F5
>
D e p r e s s s o f t key.
deleted character “X."
F4
CURSOR
ENTER
D
l= >
Specify “D.”
1. 7. 3
key has the following three functions.
The
(1)
CANCEL Key Function
E r r o r cancel
T h e e r r o r is cancelled if th e e r r o r m essage is displayed.
D isplay of the d ata being pro gram m ed
does not change.
(2)
In p u t value cancel
D ata in the in p u t line a re cancelled if d e p r e s s e d once.
T he s ta tu s of the soft keys, etc. does not
change at th is tim e and new d a ta can be in p u t continuously.
(3)
Operation Interruption
If the
CANCEL
key is depressed while the input line is empty, data inside the input buffer and p r e
vious operations are cancelled. In this case, the soft key labels also backtraced by one level.
The
CANCEL
key does not function if both the in p u t line and in p u t buffer a r e empty.
-
44 -
1. 7. 4
ENTER Key Function
Data registration or editing is executed when
ENTER
key is depressed.
If in p u t d a ta e x ists in the in p u t line w hen th is key is dep re ssed , the d a ta a re te m p o ra rily reg istered
in th e in p u t buffer line.
If the in p u t line is em pty and d a ta exist inside the in p u t buffer line, the d a ta a re reg istered in the
m em ory as final data.
How to Register of “WAIT IN # 0 1 = 0
T =10.0”
EDIT
Displayed in input
0>
Displayed in input buffer line
Displayed
-in input line
W A IT .
IN » 0 1 /
=>
-
<3
-
F3
F1 II F2
Back space
Exit
F4
F5
c>
Displayed
in input line
WAmty4ui =o'
C>
1S=—
<1
Displayed
' in input line
= =
■■
pg
— = — -------- — J
MOVJ VJ =
W A I T IN fl 01 =
T = 1 0 -0
M OVLV
=
M OVLV
=
X
/
w a it in # 0 1 “
-
■P
<J
pi
n
-
45 -
0 t * io . o
END
==>
□ □
□
n
□
Registered
the instruction
SECTION
3
TURNING POWER ON/OFF
f
This section describes the method of turning on the
power and turning off the servo/main power.
uciuic me iviuiuiiidii ib Ufjeraieu,
be sure to check that nobody
is near the manipulator.
/Ig s T
W
m
*
7 f e f r 1
CONTENTS
PAGE
T U R N I N G POWER O N / O F F .....................................49
M A I N POWER O N ........................................................50
I N I T I A L DI AGNOSI S A N D
SYSTEM I N I T I A L I Z A T I O N .................................... 51
3
3. 1
3. 2
3. 2.
1
In itia l D i a g n o s i s ........................................................................................51
3. 2. 2
Present V a l u e C r e a t i o n ...........................................................................51
3. 2. 3
Status a t Pow er O F F ............................................................................... 51
3. 3
3. 4
3. 5
SERVO POWER O N .................................................... 52
E M E R G E N C Y STOP( SERVO POWER OFF) •••■ 52
M A I N POWER O F F .................................................... 52
-
49 -
3.
1
M A IN P O W E R O N
Main po w er can be su p p lied by t u r n in g on th e main po w er sw itch p ro v id ed on the control panel.
See Fig. 3. 1.
T u r n i n g th is sw itch to the ON position, control po w er is tu r n e d on inside the controller, allow ing
op era tio n on the o p e r a t o r ’s panel.
tir e co n tro ller is tu r n e d off.
If the sw itch is tu r n e d to th e O F F position, p o w e r s u p p ly to the e n
T h e d a ta sto re d in the memory a r e p ro tec ted by the b a c k u p b a tte r y and is
not e r a s e d even if p o w e r is tu r n e d off.
T h e s t a r t u p d isp la y (Fig. 3. 2) a p p e a r s on th e CRT d isp lay w hen the h an d le is tu r n e d to ON.
T h is d isp lay allow s th e o p e r a to r to verify the p ro c e ss and r e s u lt s of th e c o n tro lle r initial diagnosis.
T h e title d isp la y (Fig. 3. 3) will be show n autom atically if the r e s u lt s of the d iagnosis a r e s a tis f a c
to r y on all po ints and the system is verified to be in good condition.
op era tio n on the o p e r a t o r ’s panel h as become possible.
T h is title d isp lay sh o w s th a t key
A d e s ire d d isp lay can be called up and the
m a n ip u la to r can be o p e ra te d by tu r n in g on se rv o power.
T h e title d isp lay will not a p p e a r if tr o u b le is detected in the initial diagnosis.
If tr o u b le exists,
the details of the tr o u b le will be displayed, or the CRT will not d isp la y any information.
Y A SN A C
Fig. 3 .1
E R C
Turning the M ain Pow er O N
YASNAC E R C
□
Fig. 3. 2
Startup Display
□
Fig. 3 . 3
-
50 -
□
□
□
T itle Display
3.
2
I N I T I A L D IA G N O S IS A N D S Y S T E M I N I T IA L IZ A T I O N
3. 2. 1 Initial Diagnosis
By t u r n in g on pow er, initial diagnosis of the control panel is perform ed.
T h e system condition can be
checked by d ec re a s in g th e n um erical d a ta sho w n in the s t a r t u p display.
W h e n the n um erical d a ta d e
cre a s e to 0, initial d iag nosis is completed.
A t th is time, the c ontro ller system s t a r t s op era tio n and the
title d isp la y a p p e a r s autom atically.
T h e lam ps of the o p e r a t o r ’s panel and teach p e n d a n t blink m om entarily w hen po w er is tu r n e d on
and inital d iag nosis sta rts .
Fig. 3. 4
3. 2. 2
Startup Display
Fig. 3. 5
T itle Display
Present Value Creation
T h e c o n tro lle r h a s an AC se rv o sy stem w ith an a bsolute position detector.
T o cre ate the p r e s e n t v a lu e s of the m a n ipula tor, positon d a ta a re rea d autom atically by the detecto r
of each ax is w h en p o w er is tu r n e d on.
T h erefo re, no home position re s e ttin g o p e ra tio n is r e q u ir e d w h en po w er is tu r n e d on.
3. 2. 3
Status at Power OFF
W h e n th e initial d iagnosis is completed, the following lam ps a re O F F and the following d i s p l a y s on CRT
d isa p p ea r.
•
A d d r e s s of execution job and edit job (Line No. an d step No.)
-
51 -
3.
3
SERVO POW ER ON
T h e r e a re th r e e m etho ds for t u r n in g se rv o po w er ON.
D epress
3.
key on o p e ra to r’s panel.
•
U se the refe re n c e from e x te r n a l in p u t (special input).
•
Use the tr a n s m is s io n com mand from h o st com puter.
4
E M E R G E N C Y S T O P (S E R V O P O W E R O F F )
(ÎSTOPl
When tu rning the servo power off, depress
on teach p endant.
button on the operator's panel or
button
T h e s e b u tto n s can be o p e ra te d anytim e and u n d e r any condition.
A s soon as se rv o p o w e r is tu r n e d off, mechanical b r a k e is op era ted and the m a n ip u la to r sto p s at its
c u r r e n t position.
E m ergency stop can also be o p e ra te d by e x te rn a l in p u t (special input).
3.
5
M A IN P O W E R O F F
W h e n t u r n i n g the main p o w e r off, d e p r e s s em ergency stop p u sh butto n an d t u r n th e main po w er sw itch
(handle) to th e O F F position
Fig. 3 . 6
Turning the M ain Pow er O F F
-
52 -
SECTION
4
TEACHING
This section describes preparation before teaching
(Job name registration, confirmation of emergency stop
button) and teaching operation ( path registration,
overlapping method of steps, confirmation of each step
and
path, alteration and
addition and deletion of teach
points).
CONTENTS
PAG E
PAGE
T E A C H I N G ......................................... ••■■53
4. 5.
Mode S e le c tio n .............................................90
4.
1
TEACHING OPERATION FLOWCHART •• 54
4. 5.
Precautions d u rin g B a c k w a rd /F o rw a rd
4.
2
P R E P A R A T I O N FOR T E A C H IN G
4. 5.
R elation between B a c k w a rd /F o rw a rd
4
4. 2. 1
Key O peration ............................................. 91
■■57
R e g istra tio n of J o b ..................................... 57
4. 2. 1
Job Name Regi st r at i on by usi ng Dat a Keys ■• ■• 58
4. 2. 1
Job N a me Regi st r at i on by I nput t i ng Al phabet s ■• 60
4. 5.
M otion Speed S e le c tio n ............................. 93
4. 2. 1
Job N am e Registration by A d d in g
4. 5.
M otion to Reference P o in t(R E F P ) ..........93
2
4. 6
P A T H C O R R E C T I O N ......................... 94
In se rtin g Position D a ta ............................. 94
D ig its to Reserved Job N a m e ..............63
Key O peration and M o ve m e n t..................91
4. 2. 2
C o n firm a tio n of Em ergency Stop Button67
4. 6. 1
4. 2. 3
Setting of Teach L o c k ................................. 68
4. 6. 2
M o d ify in g Position Data ......................... 97
4.
3
T E A C H I N G ................................................. 69
4. 6
D eleting P osition D a t a ............................. 98
4. 3. 1
Path R e g istra tio n in Teaching .............. 75
4. 6
M o d ify in g M otion T y p e ............................. 99
4. 3. 1
Notes fo r Path R e g is tra tio n ......................80
4. 6
M o d ify in g M otion Speed D a t a .............. 101
4. 3. 1
M a in p u la to r P osition R e g is tra tio n ..........80
4. 6
M o d ify in g P osition ing L e v e l..................102
4. 3. 1
P la y(M otio n)S pe ed R e g istra tio n .......... 81
4. 6
M o d ify in g Reference P o in t......................103
4. 3. 1
Mot i on Type( Li n k , Li near, Ci r cu l a r (Regi st r at i on - -82
4. 7
T E A C H L O C K R E L E A S E ..............104
4. 3. 1
P o sitio n in g Level S pecification .............. 85
4. 8
T E M P O R A R Y R E L E A S E OF SOFT
4. 3. 1
Reference P oint S p e c ific a tio n ..................86
4.
4
OVERLAPPING OF FIRST AND LAST STEPS - -87
4. 9
INTERFERENCE PREVENTION FUNCTION
4.
5
L O C U S C O N F I R M A T I O N ..................89
4. 5. 1
Backwar d and F o r w a r d Key O p e r a t i o n .................. 90
-
L I M I T C H E C K ..................................... 104
IN T HE I N T E R F E R E N C E A R E A
53 -
- -106
4. 1
T E A C H IN G
O P E R A T IO N
FLO W C H AR T
Operator's'
Preparations
for Teaching
Par. 4 . 2
< Teach
Pendent
Teaching
Par. 4 . 3
Overlapp ing of first
Reg istration of job name ........................... L
By usin g D A T A k e y s ................................ L
By in p u ttin g a lp h ab e ts ...........................
By usin g r e s e rv e d job nam e .................. t
C onfirm ation of E. S TO P b u t t o n ................^
Settin g of TE A C H L O C K ........................... ...^
.
.
.
.
.
.
Par.
2.1
2 . 1 . 1
2 . 1 . 2
2 . 1 . 3
2. 2
2. 3
T ea ch in g of p a t h .............................................1
P re c a u tio n s ................................................... ...1
M a n ip u la to r position ................................ ...4
P lay speed (Motion s p e e d ) ...................... ... 4
Motion type ................................................... ...L
Positioning level .............................................1
Reference point ......................................... ...L
.
.
.
.
.
.
.
3
3
3
3
3
3
3
.1
. 1
. 1
. 1
. 1
. 1
. 1
.
.
.
.
.
.
1
2
3
4
5
6
1
and last
1
Par. 4 . 4
B a c k w a r d / f o r w a r d o p era tio n ..................... 4 . 5 . 1
Mode s e l e c t i o n .............................................. ... 4 . 5 . 1 . 1
P re c a u tio n s ................................................... ... 4 . 5 . 1 . 2
R elationship between
Path confirmation
Par. 4 . 5
<rwd]
[ ^ d > key s and motion ..................... 4 . 5 . 1 . 3
Motion speed selection ........................... ... 4 . 5 . 1 . 4
Motion to referen c e point .......................... 4 . 5 . 1 . 5
Path correction
1 I n s e r tin g position d a t a ................................ ...4
1 M odifying position d a ta ........................... ...4
D eleting position d a ta ................................ ... 4
1 M odifying motion t y p e ................................ ...4
1 M odifying motion speed d a ta .....................4
M odifying p o sitioning l e v e l ...................... ...4
M odifying r e f e r e n c e po in t specification • 4
Teach
[
Pendent
.
.
.
.
.
.
.
6
6
6
6
6
6
6
Teach lock release
* Temporary release of soft limit check ........ 4 . 8
* Temporary release of interference check ••• 4 . 9
(Others)
-
54 -
.
.
.
.
.
.
.
1
2
3
4
5
6
7
Before te ach ing begins, w e ’ll mention the mode key selection.
S E L E C T IO N T h e mode selection de te rm in e s the method of o p e ra tio n of th e m an ip u la to r axes.
Select one of th r e e mode key s on the o p e r a to r 's panel acco rd in g to the purpose.
If n ec es sary , mode can be selected th r o u g h e x te rn a l in p u t (specified input).
A mode can be selected anytime.
Be s u r e to stop the m a n ip u la to r w hen the mode is
changed d u r in g m a n ip u la to r operation.
New soft key labels a p p e a r on the CRT d isp lay w h en a MODE key is d ep re ssed .
pro g ra m will ask abo u t the f irs t op era tio n to be perform ed.
T he
D e p re ss only w hen th is is
needed. (The soft key lab els do not change if a mode is selected by e x te r n a l input.)
U su ally if control p o w er is tu r n e d on, the mode will r e tu r n to the conditions at the time
w h en po w er w a s tu r n e d off.
H ow ever, if a mode is d esignated by e x te rn a l in p u t or by the
o p e r a t o r ’s panel w hen po w er is tu r n e d on, the d es ire d mode is set.
1
The mode is not changed if different modes are designated simultaneously or if another
key remains depressed.
2 . For safety, TEACH mode selection on the operator’s panel has priority over other mode
selections.
Therefore, the TEACH mode can be selected by operating the operator’s panel even
if the PLAY mode is selected by external input.
3 . The REMOTE mode select key becomes enabled if an option is added.
Therefore, in a standard system, this key does not respond even if it is depressed.
This is true for external input also.
-
55 -
4.
1
TE A C H IN G O P E R A TIO N FLO W C H A R T (Cont’d)
O p eratio n F lo w c h a r t for T e a c h in g D ata R eg istra tio n and Correction.
* EDIT key
Data
on
indicating
line
No.
are
changed.
Data are inserted on the line immediately below
Instruction can not be changed.
the indicating line No.
Instruction on indicating line No. is deleted.
Only
Move instruction has conditions tor deletion.
changed.
positioning
be changed.
-
56 -
data
of external
axis are
Positioning data of robot axis can not
4. 2
4. 2. 1
P R E P A R A T IO N F O R T E A C H I N G
Registration of Job
T h e job name for the intended te ac h ing m ust be p rev io u sly registered.
R egister the job name by usin g one of following th r e e methods.
[jo b Name R e g istra tio n ]
(1)
R e g istration by u sin g D A T A keys (p a r . 4 . 2 . 1 . 1 )
(2)
R e g istration by in p u ttin g a lp h a b e ts (p a r . 4 . 2 . 1 . 2 )
(3)
R e g istration by ad d in g 2 digits to the re s e rv e d job name ( p a r . 4 . 2 . 1 . 3 )
W h e n the job n am es rela ted to the same w o rkp iec e is re g iste re d at batch as a common name, (3)
above is most effective.
T h e w o rk condition job nam es have a lre a d y been r ese rv e d , ( p a r . 8 . 1 . 6 )
The following characters cannot be used for registration of job name.
(SPACE) ( " ) ( * ) ( + ) (, ) (. ) ( / )
(< ) (= ) (> ) (? )
( :) ( ; )
([) ( ¥ ) ( ] ) ( | )
-
57 -
4. 2. 1. 1 Job Name Registration by using Data Keys
....
( O p r a tio n on O p e r a t o r ’s P a n e l)
( D e s c r ip tio n )
D epress T E A C H key eve n if the T E A C H key
¡t e a c h )
lamp is a lre a d y lit.
L P\J
0
(A)
MODEL MOTOMAN
= > Select display menu
system
D ia g n o s is
As
no
a
result,
the
soft
key
labels
changed to the soft key labels (B).
Stack Disp
SOFT KEY
LABELS
<1
F1
-t
F2
F3
-
F4 I FS II O l
—...... -1
SOFT KEYS
o
(B)
>S et operating item
lockl
MODEL M 0T0MAN-L106
system
other job
no
Master job
D e p re ss
i New i°bJ soft key.
F3
D ep ress
Job
F4
-
58 -
soft key.
(A) are
I
s
DATA keys
o
o
Register the job
8
9
5
6
2
3
No. by u sin g D A T A
keys.
If you make a m istak e on the input,
delete the job No. by using
CANCEL
key
and re s e t the c o r r e c t job No.
0
" 1
m
D e p re ss [ E N T E R
key w hen the r e g i s t r a
tion is completed.
T E A C H IN G M O D E
A C T V -JO B .T E S T
1987
06
E D IT J O B . 123
L IN E
000
000
STEP
000
21 10 : 30
IN S T R U C T IO N
N O I’ - ]
E N D -*
1 L
000
S : 000
L : 000
S - 000
UN STOf*
-------------------------------------------------________________________________
' T h e job nam e h a s been r e g iste r e d and
disp lay e d on th e CRT display.
-W h e n th e new jo b nam e h as
= > Set o pe ratin g item .
New jo b
istered, tw o in s t ru c tio n s
been r e g
a re also r e g
iste re d autom atically.
O th e r jo b
• NOP I No op era tio n
-
0
[F t]
[w ]
F3
F4
FS
>
CRT Display at New Job Registration
• END ! E nd
T o c re a te a com plete job, teach the p o si
tion d a ta at teach p e n d a n t and re g iste r
or
edit
panel.
-
59 -
th e
in stru c tio n
at
o p e r a t o r ’s
I
4. 2. 1. 2 Job Name Registration by Inputting Alphabets
( O p r a tio n on O p e r a t o r ’s P a n e l)'
( D e sc rip tio n )
D epress T E A C H key ev e n if the T E A C H key
m
MODELMOTOMAN
S Y S T E M NO
• Select display menu
J 0 D
SOFT KEY
P o s it io n
Fi l e
D ia g n o s is
As
a
result,
the
soft
key
labels
STACK DISP
LABELS
<3
F2
F3
F4
t>
F5
SOFT KEYS
o
(B)
MOQtLMGTOMAN
SYSTEMNO
■ Set operating item
New|ob
<3
F1
F2
F3
Other (OD Masteriod
F4
F5
SYSTEM
F1
F2
N e w jo b
O th e r job
Master job
F3
F4
F5
t>
„
NO
D e p re ss
I New job ,
—
soft key.
F3
□
Job
reserve JOB i
D ep ress
Job
F4
F5 >
F2
F3 II
« ! F1
------------------------------------ ^ \ ------------
-
60 -
soft key.
(A)
are
A B C - A BC
D ep ress
soft key.
F1
.....
<
F1
F2
F3
F4
F5
o
C h a ra c te r d isp lay ap pe ars.
a b c d ef g h i
jklm
no p q r s t uv wx y z
Character Display
CURSOR
Place the c u r s o r on the d es ire d alp h a b e t by
u sin g CURSOR k e y s an d d e p r e s s E N T E R key.
Repeat these o p e r a tio n s until the alp h ab e ts
+
are in p u t completely.
If you make a m istake on th e input, c o r
re c t the job nam e r e f e r r i n g par. 1 . 7 . 2 .
R egister th e job nam e w ith in
a c te rs
( 4
characters
8 char
“How to c o r r e c t from ABCXE to ABCDE.”
w hen double-
sp a ce c h a r a c t e r is used).
Depress
>
soft key to return the c h a rac
ter display to the previous display.
E x it
Be sure to depress
the
character
F5
inputting.
name cannot be registered.
-
61 -
soft key to end
Otherwise,
the job
I
4. 2. 1. 2
Job Name Registration by Inputting Alphabets (Cont’d)
D e p re ss E N TE R key w hen the r e g istra tio n is
completed.
T E A C H IN G
1987
(16
MODK
A C T Y -JO B T E ST
21 in : ;<(!
E D IT -JO B
(mo
OOflt
L .U O d $ . O f*
L
OOfi S
ON STOP
(KKi
T_
L IN E S T E P IN S T R U C T IO N
(HKKI
i
" T h e job nam e has been r e g iste re d and d i s
N O P —I_____
(■: NI i - l
played on the CRT display.
-W h e n the new job name has been registered,
= = > Set ope ratin g item .
two in s tru c tio n s a re also re g iste re d a u to m a ti
cally.
O th e r job
• NOP i No o p eration
• END ! End
<1
Ft
F2
F3
F4
PS
C>
To cre ate the complete job, teach the position
d ata at teach p e n d a n t and r e g iste r or edit the
in stru c tio n at o p e r a t o r ’s panel.
-
62 -
4. 2. 1 .3
Job Name Registration by Adding 2 Digits to Reserved Job Name
■( O p r a tio n on O p e r a t o r ’s P an el)-
D epress T E A C H k ey even if the T E A C H key
0
SOFT KEY
As
= = > Select display menu.
LABELS
D iagnosis
<3
F1
F2
F3
F4
STACK DISP
F5
a
result,
the
soft
key
labels
(A) are
>
SOFT KEYS
g ] | F1 || F2 |[~F3 l| F4 ||~FS~l[^j]
0
New job
D e p re ss
Teach-iock
soft key.
r^ i
______ j j N e w ] o b | | Other )ob 11 Mästet |0b
□
reserve JOB
D e p r e ss
[< ir 7 n i i r i r
n F4 f *
|
fs
|
soft key.
&
T h e list of re se rv e jo b s is show n on th e C R T
display. Place the c u r s o r on th e d es ire d r e s e rv e
job.
-
63 -
I
4. 2. 1. 3 Job Name Registration by Adding 2 Digits to Reserved Job Name (Cont’d)
I
Prog-job
!
D e p r e ss 1— ------ —1 soft key.
F4
Prog, jo b
n
IÎÏL
Prog name
m
T h e soft key labels changes as sh ow n in the
left.
Register the job No. by usin g D A T A keys.
If you make a m istake on th e input,
8
9
5
6
2
3
0
•
1
delete the job No. by usin g
CANCEL
key and
r e s e t the c o r r e c t job No.
D e p re ss E N TE R key w hen the r e g is tra tio n is
completed.
T E A C H -L O C K
1987
06
2 ! 10:3(
A C T V -JO B :T E S T
L :i
E D IT JO B
L : 000 S :
' T h e job nam e h a s been re g is te r e d and d i s
L IN E S T E P IN S T R U C T IO N
0000 000
NOP-l_
aîwïi
F \ n —*
played on the CR T display.
-W h e n the new jo b nam e h a s been reg istered ,
tw o in s tru c tio n s a r e also r e g iste r e d a u to m a ti
= > Set ope ratin g item .
N ew
cally.
jot)
O ther tob
• NOP I No op era tio n
Master job
• END ! End
To c re a te the complete job, teach th e position
d a ta at teach p e n d a n t and r e g is te r or edit the
in stru c tio n at o p e r a t o r ’s panel.
-
64 -
★
When desiring to reserve the job name
A M axim um of 8 job nam es a re p re v io u sly r ese rv e d .
T h e n u m b e r of r e s e rv a b le job nam es may differ
ac c o rd in g to the applications.
A M axim um of 6 c h a r a c t e r s ( 3 c h a r a c t e r s in full size) can be re g iste re d in a job name.
R e serv e job nam e in the following sequence.
■ (O pration on O p e r a t o r 's Panel)*
(D e s c r ip tio n )
D epress T E A C H k ey even if th e T E A C H key
lam p is a lre a d y lit.
0
( A
SOFT KEY
LABELS "
As
<]\
FI 1| F2~|| F3 (I F4 || F5 ||1>
a
result,
th e
soft
key
labels
(A)
are
:7s
R i f p r i r ^ i r ^ i i » ii
F*
ii>
D e p re ss
Teach lo c k
New jo b
Other job
M a ster |ob
^— N8W *°b ^ soft key.
F3|
□
D e p re ss
reserve JO B
1— — ——1
.
soft key.
F5
T he list of r e s e r v e jo b s is show n on the CRT
display.
Place the c u r s o r on the d e s ire d r e s e r v e p o s i
tion.
65
★
When desiring to reserve the job name (Cont’d)
m
D ep ress
B
D ep ress
j Prog-name
abc-ABC
soft key.
soft key.
F1
page.
abc-A B C
Page
....
<
F1
F2
F3
F4
F5
o
C h a ra c te r d isplay a p p e ars.
a b c d e f g h i j k l m
nopqr s tuvwxyz
Place the c u r s o r on the d e s ire d alp h a b e t by
Character Display
usin g CURSOR keys and d e p r e s s E N TE R key.
R epeat th e se o p e r a tio n s u n til th e a lp h a b e ts
D
a re in p u t completely.
+
If you m ake a m istake on th e input, c o r
re c t the job nam e r e f e r r i n g p ar.
1.
7 .
2
“How to c o r r e c t from ABCXE to A BCDE.”
Depress
t>
soft key to retu rn the ch a rac
ter display to the previous display.
EE
Exi t
Be s u r e to d e p r e s s
the c h a r a c t e r inputting.
•
soft key to end
O th erw ise , the job
nam e ca nn ot be registered.
<
F1
F2
F3
F4
_____
o
V=J
m
D e p r e ss
ENTER
key.
T h e job nam e has been rese rve d.
-
66
4. 2. 2
Confirmation of Emergency Stop Button
T h e se rv o p o w er m ust be cut off by d e p r e s s in g the em ergency stop button on the o p e r a to r's panel or on
th e te ac h p enda nt. T h e s e b u tto n s can be o p e ra te d anytim e and u n d e r any conditions.
D
D e p r e ss em ergency stop buttons.
Check th a t the
E STOP
se rv o p o w er is cut off.
H
A fte r checking, re s e t the em ergency button on the
o p e r a t o r ’s panel to the original position.
T h e butto n on the teach p e n d a n t rem a in s active.
I t .
V
E STOP
Turn in the
direction of
arrow.
D e p re ss
key.
-
67 -
I
4. 2. 3
Setting of Teach Lock
Be s u r e to set the teach lock for se c u re operation.
As a resu lt, o p era tio n s only by the teach p en d a n t
become possible.
T h is se ttin g can be made on both the o p e r a to r 's panel and teach pendant.
( S e ttin g by u sin g o p e r a to r 's p ane l)
II
D e p re ss
[te a c h |
• (S e ttin g by usin g teach p e n d a n t ) ’
key on o p e r a to r 's panel even if the
T E A C H key lamp is a lre a d y lit.
i Teach-lock
1 p n
D e p r e ss
soft key.
I Kth a t the EN ABLE lamp goes off and
Check
F1
"LOCK-OFF" is displayed.
0
BLINKS
T T T T
' TKACH
1987 0 6
I .O C K ^
21 10:31)
L IN E S T E P
0000
0001
ooo
ACTVJOB T EST
L 0(1» S.Mil!
E D IT JO B :123
L: 001) S: 000
I N S T R U C T IO N
NOP
KM)
= = > S e t ope ratin g item .
O tn e r jo b
M aster job
T h e teach-lock is set and th e d isp lay above
will appe ar.
display is changed to “LOCK-ON.’
key on teach pendant.
pendant are effective.
If key s on the teach p e n d a n t a r e not o p e ra te d for more th a n
3 0 seconds (sta n d a r d value), the ENABLE lamp goes out
autom atically.
T h e d isplay is changed to “0 0 0 0 0 0 0 NOP.”
- 68 -
4. 3
T E A C H IN G
L et's teach th e jobs w ith teach p e n d a n t from in front of the m anipulator.
Safe Distance
'T eaching Outline (Teach Pendant O p eratio n)1
D
TE A C H LOCK
0
MAN SPD
i>
(See par. 4 . 2 . 3 . 1 )
Axis keys
□
MED
□
SLW
£>
□
O
Check each axis movement
by usin g A xis keys.
STEP
1
(Safe place
a
®
and
position c o r r e s
0>
p ond in g to the workpiece.)
Move the m a n ip u la to r to S T E P
ON,
C>
1
Set the play
speed at 50%.
STEP
ED
2
MAN SPD
(Near the op era tio n s ta r t in g position)
2
CD FST
and
make the p o s tu r e so th a t the welding,
gluing or han d lin g can be executed by
usin g Axis keys.
-
69 -
p \
■
MED
□
SLW
M
STEP
m
3
ü
(O peration s ta r t in g position)
c > i
Move th e m a n ip u la to r to S T E P
w ith the p o s tu r e on S T E P
£>
c>
2.
Set the play
Speed at 13%.
E
STEP
4
(O peration end position)
O
N O TE : To change to linear,
MAN SPD
se lect “LNR" by d e p r e s s in g
MOTION
TYPE
depress
m
STEP
CD MED
key.
RECORD
Eg]
5
T h en
□
key.
M
m
^ S e p a ra te position from o p e r a t i o n \
end position, does not con tact the
\ w o r k p ie c e .
Move th e m a n ip u la to r to S T E P
px. c >
J
5 by
speed at 50%
usin g A xis keys.
Eg
STEP
m
6
^Near the o p e r a tio n '
^sta rtin g position
by u sin g A x is keys.
O
Set the play
C>
SLW
Description of Teaching
—“ Ô peration on the T e a c h P end ant)*
n
Set the T E A C H LOCK.
B
Refer to par. 4 . 2 . 3 . 1
D e p re ss ENABLE key.
LIT
T he ENABLE lamp is lit and the o p era tio n by
teach p e n d a n t becomes possible.
B
WAN |
[_ _ _ ^ >
’\
MAN
SPD
Set the m anual speed to F S T (fast) by d e
MAN
S PD
p r e ssin g
key.
T h e lighting position of MAN SPD
lamp is shifted dow n e v e r y time
MAN
S PD
key is d ep re ssed .
1
MAN SPD
■
FST
m
M ED
■
S LW
I
I
i
M AN SPD
(Three lamps are lit.)
■
M ED
Inching operation
■
SLW
is possible.
I
★
Description of Teaching (Cont’d)
Check roug hly each axis movement by d e p r e s s
ing the axis keys below.
A x is key
,-----X+
S +
X
Y
z
A xis
Y
L-
L^
u
U
'x
+
Z +j
+J
X
R +
R\
y
S
B-
V '
B +
T-
T+ ]
4
Move the a x e s to S T E P
1.
STEP
Rolling
(Right/left)
L
F o rw ard /b ack w ard
U
U p /d o w n
R
Rolling
(Right/left)
5
6
@
Movement
B
T
Bending
(U p/do w n)
T urning
(Right/left)
1 (the f irs t position) should be at a safe
location and in a position c o rre s p o n d in g to the
(Example)
same w orkpieces.
-
72 -
a
Depress
by
-+-
(speed increasing) or
ON
using
PsLpD
Y
Play speed h as 8 stages ;
1
2
3
4
Play speed % 0.78
1.56
3.12
6.25
Stage
OFF
(speed decreasing) key.
key.
(Example) Link interpolation
5
6
7
8
12.50 25.00 50.00 100.00
W h e r e inte rp o latio n is link, the
play speed is disp lay e d at link
STAGE
speed (% data).
T h e play speed
is changed only at link in te r p o la
tion.
W h e r e in te rp o latio n is linear or
circ u lar, the play speed is d i s
<
played at linear speed (ab so lu te
d ata in mm/s).
is
c h a n g ed
T he play speed
only
at
linear,/'
c irc u la r interp olations.
m
D e p r e ss
recor d
key.
(Example)
T h e d isp lay ch anges as sho w n on th e left.
TOOL FILE NO.
STEP NO.
S T E P No. is in c re a se d by one e v e r y tim e you
depress
0
Move the axes to S T E P
STEP
2
RECORD
key. ( 9 9 9 max.)
2 shou ld be n e a r the o p e ra tio n starting
position w h e re the welding, gluing or handli
can be executed.
m
Side
Front
Side
Front
Basic W rist Posture for O peration Starting
-
73 -
Side
Front
★
Description of Teaching (Cont’d)
Œ
MAN SPD
O
10
Set the manual speed to MED (medium)
FST
Î > - :- , □
MED
□
SLW
by depressing
MAN
S P D
kev.
Move the axes to STEP 3
(Operation starting position)
keeping w rist posture of STEP 2 .
Welding
Handling
Gluing
STEP
STEP 2
STEP 3
GRIPPER IS
CLOSED.
ARC ON
W rist Posture from STEP
m
®
mm
In th is way, teach S T E P s
4 to 6
(near s t a r t position).
T h e play speed can be in c re ase d
m
D e p re ss
PSLPADY
key.
D ep ress
RECORD
key.
key.
\
10
3
Set th e play speed at 13 %
by depressing
IS
1 to STEP
a c co rd in g to the conditions.
-
74 -
4. 3. 1
Path Registration in Teaching
In teaching, depress
key to register “manipulator position.”
RECORD
At this time, “Playback speed d ata”
and “Move instruction corresponding with motion typ e” are registered simultaneously.
The line and step
Nos. of the new teaching data are increased by one and registered under displaying line No.
step can be checked by depressing
The registered
key.
ADDR
M ove instruction display on teach pendant
Confirm the re g iste re d step by d e p r e s s in g
0
1
2
T
L
0
M
O
0
V
r :
—
"Step No.
[B B l
L
key.
V = 7 5 0 .0
Tool file No. (Tool file d a ta in ste p registration).
/ D i s p l a y s only for Move instruction.
T h e d isp la y on teach p e n d a n t is up to 12 c h a r a c te r s .
"^ j|
U N TIL I N # 0 2 = 1
Instruction an d a d ditiona l items.
In creased by one e v e ry time
depress
PL= 1
key is d epressed.
To d isplay more th a n 12 c h a ra c te rs,
key on teach p e n d a n t to move the d isp lay to the left.
T o r e t u r n th e display, d e p r e s s
IQ 9]
key.
When the instruction is registered above END instruction, depress
keys.
2 . To correct the position, be sure to specify the MOVE instruction.
-
75 -
key.
F or registra-
Im prove m e nt for m ovem ents betw een poin ts
F o r high speed motion ( a ir - c u t motion) in sequence of P 1 —*P 2 —*-P 3 .
PI
P2
P I, P2, and P3 :
T ea ch in g points
■(Conventional method)T ea ch in g
CD Move the arm to p oint P 1 w ith teach pendant.
(D
(D
Specify the in te rp o latio n to link.
Set th e play speed level to stage 8 (1 00.00% ).
Then, r e c o rd it.
©
T each poin ts P 2 and P 3 the same as for point P 1
T he job c o ntents a r e d isp lay e d as sho w n below.
Step :
In struction :
0000
0001
0002
000
001
002
NOP
MOVJ
MOVJ
V J = 100.00
V J = 100.00
0003
0004
003
O
§
>
T e a c h tool : 0
O
O
©
o
II
Line :
END
M ovement
In th is case, th e speed from P 1 may be d e c re a s e d once at P 2 , and the speed is in c re a se d f o r
w a r d again at P 3 .
■(Improved m ethod)T e a c h in g
W h e n po ints P 1 , P 2 and P 3 a r e ta u g h t by teach p e n d a n t the sam e as for conventional
method, the CO N T or PL specification is s e t w ith M OVE in stru c tio n at t h a t time.
Reg istration
®
W h e n d e p r e s s in g
j
RECORD |
key w ith o u t specification of positioning level, “C O N T ” is
registered .
(ex)
MOVJ
VJ = 1 0 0 .0 0
W h e n depressing
CONT
] RECORD 1 key w ith specification of positioning level, “P L = 0 to 4 ” is
registered .
(ex)
MOVJ
VJ = 1 0 0 .0 0
1.
PL= 4
T he deletion and a d dition of “CONT" specification should be executed w ith line ed iting (operation on o p e r a t o r ’s panel).
•
2 .
T he specification of “C O N T ” and “PL" can not be executed at the
sam e time.
M ovement
•
F o r the te a c h in g point specified at “C O N T ”, the m a n ip u la to r will move w ith o u t d e c r e a s
•
F o r th e te ac h in g point not specified at “C O N T ” and “P T ” (inw ard turning), the m a n ip u la
ing speed.
to r d e c r e a s e s speed at P 2 and in c re a se s f o rw a r d at P 3 .
_
_
1.
T ak e c a re of the following points w hen the job p ro g ra m m e d in p re v io u s v e r
sion 4 . 0 0 are a r r a n g e d and o p e ra te d by usin g p ro g ra m of v ersio n 4 . 0 0 and
beyond.
®
W h e n o p e ra tin g w ithout “C O N T ” specification, the acting time is a little
longer th a n
(2)
p r o g ra m m e d in p revious v ersio n 4 .0 0 .
W h e n “C O N T ” is re g iste re d in p r e v io u s job, the in w a rd tu r n in g r a d iu s in
the c o rn e r is a little la rg e r th a n it w as of the p re v io u s job.
Be careful of in
terference.
2 . Note for motion w ith “C O N T ” o r “P L ” specification.
®
W h e r e the m a n ip u la to r is o p e ra te d in a r e v e rs e direction in seq uence P I —*
P 2 —*-P 3 , it d e c re a s e s and in c re a se s speed at P 2 .
(D
W h e r e th e m a n ip u la to r has c o r n e r motion w ith “C O N T ” specification, it
moves along an in w a r d tu r n in g p a th as sho w n by the dotted line.
F o r this
in w a r d tu rn in g , the motion speed is h ighe r and the m a n ip u la to r is larger, the
r a te of the in w a r d t u r n in g is higher.
P3
(3)
W h e n an in stru c tio n oth e r th a n MOVE in stru c tio n is re g iste re d in a step of
MOVE in strction, th e m a n ip u alto r w ill d ecrease the speed or keep the speed
a c co rd in g to the re g iste re d instructio n.
L IN E :
STEP
IN S T R U C T IO N :
0000
0001
000
001
002
NOP
MOVJ
MOVJ
0002
0003
0004
0005
003
TEACH TOOL:0
V J = 100.00
V J = 100.00
CONT
CONT_____—-
I T I M E R T = 0.30 I-*—
M O V J V J = 100.00 C O N T
END
-
77 -
In
th is
case,
the
cre ase d at P 2 .
speed
is
de
A fte r tim er in
stru c tio n is executed, the speed is
in c re ase d f o rw a r d at P 3 .
I
W h e n the following in s tru c tio n is r e g iste r e d in a step of M OVE in stru c tion,
keeping speed p ro c e ssin g (at CO N T specification) or in w a r d tu r n in g p r o c e s
sing (at PL specification) can not be executed.
•
All a rithm etic in stru c tio n s
•
Some control in s tru c tio n s
•
Some I / O in stru c tio n s
•
Some device in stru c tio n s
TIMER, PAUSE, STOP, CALL, JU MP, RET, END
W A IT , B R W A IT, POSOUT, DIN
ARCON, ARCOF, GUNON, GUNOF,
HAND 1 , HAND 2 , TOOLON,
T OOLOF, LASERON, L A SERO F
•
@
In s tr u c tio n s for optional functions
W h e n “P L ” (inw ard tu rn in g ) is specified for an alm ost s tr a i g h t line, it is r e
g a r d e d as “CONT" specification automatically.
p
,
P2
■’:!
•-----------------------
(5)
W h e n “P L ” is specified for the position in w h ich the w r i s t axis moves w id e
ly, segm ent over alarm will occur.
C hange the PL specification to CONT.
3 . Note for path in c o r n e r point w hen CONT and PL specification.
< T h e se ttin g of in w a r d tu r n in g d istan c e >
A
P a th of PL = 0
B
P ath of P L = 1
D eterm ined at p a r a m e te r (SC044) value.
C
P ath of PL = 2
D eterm in ed at p a r a m e te r (SC045) value.
D
P ath of PL = 3
E
P ath of PL = 4
F
W i th o u t CO N T an d PL
G
P ath of CONT
V a r y according to the speed.
Refer to par. 4 . 3 . 1 .
-
78 -
I m p ro v e m e n t of o p e r a tio n fo r r e g is t r a tio n /d e le te t io n of C O N T / P L in stru c tio n (E ffective fro m V4. 20)
{C onventional m e th o d )
W h e n a M O V E in stru c tio n is re g is te r e d or a d d e d f r o m th e te a c h p enda nt, C O N T is add ed w ith o u t any
co n dition unless P L is specified.
T h e r e is no m e a n s to d elete C O N T / P L f r o m th e te a c h p endant.
( I m p r o v e d m e th o d )
A fu nction to r e g is t e r M O V E in stru c tio n s w ith o u t C O N T / P L fro m th e te a c h p e n d a n t and a function
to d elete re g is te r e d C O N T / P L a r e added.
T h e o p e r a tio n p ro c e d u re s a r e a s sh o w n below:
O p e r a tio n P ro c e d u r e s
D epress
POS LVI
k e y as k e e p in g d epressin g
ADDR
key, th e te a c h p e n d a n t display will be
c h a n g ed as sho w n below':
CONT
N O -C O N T
T h e a b o v e d isp lay is c h a n g e d by R
andF l
kevs.
W h e n N O -C O N T is displayed,
IN S E R T
or
IN S E R T
M O D IF Y
+
+
RECORD
RECORD
R e g is tr a tio n w ith o u t C O N T / P L
: C O N T / P L d e le tio n if it is r e g iste r e d
W hen C O N T is displayed,
IN S E R T
or
IN S E R T
M O D IF Y
+
+
RECORD
RECORD
: R e g is tr a tio n w ith C O N T / P L
: C hanged to C O N T
79 -
4. 3. 1. 1 Notes for Path Registration
Before r e g is te r in g the path, check the following items.
• Is the registering
-------------- ----------
position correct ?
----------
Confirmation of jobs and steps
Confirmation of registered instructions
Is the data for
Specification of m a n ip u la to r position (Par. 4 . 3 .
registering completed ?
Specification of play speed (Par. 4 . 3 . 1 . 3 )
1.2
Specification of motion type (Par. 4 . 3 . 1 . 4 )
Specification of positioning level (Par. 4 . 3 . 1 . 5 )
........ only when the specification is executed
Specification of reference point (Par. 4 . 3 . 1 . 6 )
4. 3. 1. 2
Manipulator Position Registration
M an ip u la to r position is re g istered in TEACH mode by usin g teach pendant.
( D e s c rip tio n )
Move the m a n ip u la to r to the d es ire d position.
D ep ress
-
80 -
RECORD
key
4. 3. 1 . 3
Play (Motion) Speed Registration
W h e n the Motoman position is reg istered , the play speed d ata are also reg istered .
speed is available.
Select it as follows.
8 -stage play back
T h e selected d ata is sto red te m p o ra rily in the memory and
r e g iste re d to th e in p u t move in s tru c tio n s until it is changed.
'( O p e r a t i o n on T each P e n d a n t ) 1
#—
P LA Y
1 SPD
I
D epress
PLAY
SPD
key.
L
T ea ch p e n d a n t d isp lay
LINEAR*
STAGE
1
i
2
12
3
4
0
! M : M 1/
S
4
3 • 1 0 Mi M /
4
s
1
1
i-
6
0
M M!/ i S
* Interpolation type
Unit
Linear, circular
mm/s
%
Link
8
B
1
4ON
5
1 0
0
i •
0
M M /
s
Select the play speed from am ong 8 stages.
—
or
O FF
1 . Even if the m anual speed is changed, play
speed stages (for re g istra tio n ) a re not
changed.
2 . T h e play speed d a t a se ttin g is a b b r e v i
ated by d e p r e s s in g
keys.
T each p en d e n t display.
0
Before d e p r e s s in g
RECORD
0
0 !M M /
S
key, register the interpolation type to specify the moving path d u r in g
p lay back, r e f e r r i n g to par. 4 . 3 . 1 . 4 .
-
81 -
I
4. 3. 1. 4
Motion Type (Link, Linear, Circular) Registration
Before d e p r e s s i n g
W he n
RECORD
key, specify the motion type to indicate the move path at playback.
RECORD
key is d ep re ssed , the motion typ e w ith positioning d a ta is re g iste re d as MOVE in-
stru ctio n , as sh ow n below.
I n stru ctio n
|
Movement
MOTION
TYPE
□
— J O IN T -
□
--L N R
□
-* .C IR O
MOV]
Joint
MOVL
-
ln r
L inear
MOVC
j
MOVS
j F re e c u r v e in te rpolation
i
¡ '• '■ C IR O
★
C irc u la r
Speed reset and Motion type specification
Move the m a n ip u la to r to the o p e ra tin g
position by usin g A xis keys.
D ep ress
Select the
PLAY
SPD
play
key.
speed
from
am ong
stages.
Set the m otion type (link, linear, circ u la r
or lin e ar/c ircu la r).
Refer to “★ D e sc riptio n of motion type"
on th e n ex t page.
T h e lighting position of MOTION T Y P E
lamp is shifted do w n e v e r y time
gpp
D ep ress
Now, “M a n ip u la to r te ac h ing o p e r a tio n ” and “Play speed" are registered.
-
82 -
RECORD
key.
★
Description of motion type
(1)
Link o p e ra tio n ( I
1* * JOINT)
For^l^t^ste p ^ b e^ u re ^ to ^ tea ^ h â t^ Jin k ^ o p eratk M ^
(2)
L in e ar o p e ra tio n (I
I •—<* LINEAR)
M a n ip u la to r moves lin e a rly betw een ste p s ta ught in linear.
T h e w r i s t position is changed autom atically in accord ance w ith path position, as shown below.
Normally, teach the m an ip u la to r in linear for the w elding section.
(3)
C irc u la r op era tio n (I
1^
CIR)
In playback, the c irc u la r op era tio n is executed d u r in g section ta u g h t in circular.
Point is abbreviated to P after this.
Single c irc u la r
PI
to P3 ! C irc u la r
C ontin u o u s c irc u la r
PI
to P 3 1 C irc u la r
T ea ch P I
P 4 ! Link or lin ear
T ea ch P 1 to P3 in circular.
po
PI
to P 3 in circular.
P7
T ea ch P 4 in link o r lin e ar to s e p a ra te
P8
P 5 to P 7 ! C ircu lar.
PO PI
betw een 1 s t c i rc u la r and 2 nd circular.
Note ! P 3 to P 5 a r e the
T ea ch P 5 to P 7 in circ u lar.
same point.
Speed in c irc u la r op era tio n
N o te : W hen
M a n ip u la to r moves from PI to P 2 at speed
o p era tio n is ta u g h t at high
t a u g h t in P 2 an d from P 2 to P 3 a t speed
po PI
ta u g h t in P 3 .
P3
P4
the
circ u la r
speed, the executed path is
smaller than taught path.
-
83 -
I
★
Circular job (MOVC) operating method
■{Operation on T ea ch P e n d a n t)-
□
Depress
m
key
Perform the playback operation
HOLD— START
□
E N A B L E
in
by using
BACKWARD
FORWARD
kev.
• <BWD| ~ |F W D >
1 . F o r the f irs t ste p to w a r d MOVC job, m an ip u la to r moves linearly.
T he m a n ip u la to r moves
c irc u la r ly from 2 nd step in MOVC job.
2 . F o r the following cases, m a n ip u la to r executes the linear operation, not c irc u la r operation.
• T h e axis o p e ra tio n is executed d u r in g th e c irc u la r operation.
• T h e c u r s o r or s e a r c h o p eration is executed.
• T h e ta u g h t poin ts a re th r e e p oints or below in sequence.
However, the c irc u la r o p eration
c a n be e x e c u te d in c a se below.
PO
W h e n th e m a n ip u la to r moves from P 0 to P 2
and from P 2 to P 3 by usin g F O R W A R D key,
the movement from P 2 to P 3 is c i rc u la r b e
cause the th r e e poin ts ( P I
g a rd e d as th e sequence points.
-
84 -
to P 3 ) a r e r e
4. 3. 1 . 5
Positioning Level Specification
P erfo rm the following op era tio n only w hen r e g iste rin g the step (position) w hich p a r tic u la rly r e q u ir e s
positioning level specification at play b ac k operation.
(D escription)
POS
IV I
D epress
kev.
T h e la m p is lit.
T h e p o s i t i o n i n g level s ele c te d p r e v i o u s l y is d i s p la y e d .
Select the desired level by depressing
o f f
+
ON
k e y-
T h e relation betw een positioning level and the
ac cu rac y is as follows.
D ep ress
RECO RD
key.
T h e MOVE in stru c tio n an d positioning level are
re g iste re d sim ultaneously.
★
The relation between positioning level and the accuracy
P.L EV EL
0
P recise
(Positioning Level)
1
F a ir
In w a rd tu r n in g positioning (4 stages)
I
4
Rough
—
positioning level 0
teaching locus
iSTEP 3
STEP 2
positioning level 1
positioning level 2
— positioning level 3
positioning level 4
Note : T he
a c c u ra c y
positioning
d ep e n d s
motion speed.
STEP 1
-
85 -
on
the
4. 3. 1 . 6
Reference Point Specification
P erfo rm the following o pera tion only w hen the referenc e point r e g istra tio n is needed for motion in a d d i
tion to w all point of weaving, au x ilia ry point, etc.
(Description)
"(O p eratio n on T each P e n d a n t ) '
D
R EF
P NT
Depress
key.
The lamp is lit.
T he referenc e n u m b e r selected in the
R 1F
F
P :
1
1
!
p rev io u sly is displayed.
Select the desired number by depressing
OFF
OFF
ON
key.
E ach referen c e point n u m b e r is determ in ed
as follows.
D e p re ss
R E C O R D
key.
T h e referen c e point in stru c tio n and ta ug ht
d a ta a r e r e g iste r e d sim ultaneou sly.
★
Reference point number
I n stru c tio n
REFP
(referen ce position)
M eaning
No.
1
2
W all point of w ea ving
A u x ilia ry point
STEP 3
-
86 -
REFP 1
4. 4
O V E R L A P P I N G O F F IR S T A N D L A S T S T E P S
W hy the first and last steps should be overlapped
Because
/FIRSTS
^step ;
the
Motoman
moves
at
effective
movement.
O v erla p p in g
Step 1 — 2 — 3 — 4 — 5 — 6 ’
No O v e rla p p in g
Step 1 — 2 — 3 — 4 — 5 — 6 — 6 ’
to step 6' by overlapping the
T h is movement is
steps.
waste.
P erfo rm the following o p e ra tio n to o v e rla p the f irs t and la st steps.
■ ^ ^ ^ “ "“ (O p e ra tio n on T each P e n d a n t ) “ "
"N
0
D e p re ss
ADDR
Depress
ON
-F
key.
and
OFF
kevs
simul-
taneously.
0
0
0
0
0
0 I0
!N 0
p
This display will be shown.
ON
o
D e p r e ss
(If e r ro r)
oN
key
o
O
If the d isp la y on teach p e n d a n t an d the Motoman
0
1
0
0
1 !
Mj 0
V
position a re different, the step d isp lay will be
blink.
Blinks
-
87 -
I
□
Depress
[____ J
key until the step retu rn s to the
first (STEP 1) position, while watching the movement
[fwd> D \
of the m a n ip u la to r.
D e p re ss
A D D R
D ep ress
OFF
key.
key th r e e times.
OFF
0 \
Three times
o
Times
Display
N 0
0
1
0
0
0
0
i°
o
2
0
0
0
7
lE
N D 1
p
1
4
0
3
H
0
6
T
L
0
M 0
V L
1
«a
[noon
T he la st (ST E P 6) step will be displayed.
D ep ress
M O D IF Y
D epress
R E C O R D
L
GL
Now, th e firs t and last s te p s becomes the same point.
-
88 -
key.
4. 5
P A T H C O N F IR M A T IO N
Check th a t th e ta u g h t path is correct.
f
“ (O p e ra tio n on T each P e n d a n t)
A t first, d isp la y of S T E P 1 should be shown.
a
Depress
ADOR
Depress
0FF
key
and
+
0 N
keys
simultaneously.
s
Depress
4~
ON
key.
Next, confirm the movement each step.
□
Check the movement between steps and the step position in sequence by depressing
|F W D >
]
| fwd>
key.
N O TE
1.
Set the manual speed at middle until you a re
fam iliar w ith the operation.
2.
After checking the path, the manipulator moves con
tinuously at playback speed by depressing
/-C O N T — HOLD
□ID
STEP — • <BWDj
-
89 -
key s sim u ltaneously.
I
4. 5. 1
Backward and Forward Key Operation
(Confirm ation of T a u g h t P osition on T each P endant)
--The path can be confirm ed by o p e r a tin g the
•< bw §
afte r r e g is te r in g th e position data.
keys on the teach p e n d a n t
and
[f w d >
T h e s e k e y s h a v e a d e a d m a n sw itc h style for safety. T h e m a n
1
ip u la to r moves only w hile the
or
«S___ J
key is dep re ssed .
)PWD>*
4. 5. 1. 1
Mode Selection
During path confirm ation (BACKW ARD/FORW ARD), it is possible to select between checking as a continuous
path or checking the teach position for each step. T he form er is called the CO N TIN U O US mode and the latter,
the ST E P mode.
The
and
key fu nctio ns differ d ep e n d in g on each mode.
,
•<BWD|
|FWD>
■C O N TIN U O U S M O D E /--CONT
While
key is holding down, this lamp is lit and the CONTINUOUS mode is activated.
M a n ip u la to r sto p s tem p o rarily .
:ONT— HOLD-
CONT
This
is
released
when I
START
I and I
I
keys are depressed simultaneously.
M a n ip u la to r moves d u r in g th e s e key s
depression.
^ S T E P M O D E ---------------------See p ar. 4. 5. 1. 3
for detailed.
T he ta u g h t p oints a r e tr a c e d in reverse.
• < BWO|
T he ta u g h t points a re tra c e d in sequence.
|F W O >
-
90 -
4. 5. 1 . 2
(1)
Precautions during Backward/Forward Key Operation
If in s tru c tio n s o th e r th a n the MOVE in s tru c tio n s a re registered , the a d d r e s s do not ad v a n ce by
m erely o p e r a tin g the
1-
(2)
3 .)
key.
In str u c tio n s a r e not executed neither.
(Refer to par. 4. 5.
|F W D >
F o r the movem ent to the referen c e point, the special op era tio n is needed.
(Refer to par. 4. 5. 1.
5.)
(3)
D u rin g
(4)
Be careful th a t the m a n ip u la to r moves to the te ac h in g point in back o p e ra tio n d u r in g p ara llel shift
key operation, only M OVE in s tru c tio n s a r e able to executed.
•<BWC|
operation.
4. 5. 1 . 3
Relation between Backward/Forward
Key
T h e M otoman moves only w hile d e p r e s s in g
Operation and Movement
or
key. W h e n it re a c h e s the
t a u g h t point, it s to p s autom atically.
fwir>
fwD)l
T h e ta u g h t points a r e tra c e d in
STEP 2
STEP 3
o -
— o —
sequence.
T h e ta u g h t points a r e tr a c e d in
r ev e rse .
(1)
A t F O R W A R D o p e ra tio n
O p e ra tio n e n d s af te r 1 cycle.
If the m a n ip u la to r h as rea ch ed the END in struc tion , no re s p o n s e is
made su b s e q u e n tly even if the FO R W A R D key is d ep re ssed .
T he m a n ip u la to r moves to the i n
s tr u c tio n n ex t to th e call in stru c tio n if the job is a called job.
STEP 1
STEP 2
STEP 3 STEP 4
END INSTRUCTION
— O --------- O ------------— O
O
r-H---- RET
(RETURN INSTRUCTION)
STEP 3
STEP 4
STEP 5
— o --------------- — Ô
STEP 6
o-
CALL INSTRUCTION
All instruction are able to be executed when
®
Manipulator STOP
ADDR
taneously.
-
END INSTRUCTION
----------- O
91 -
and
FWD
keys are depressed simul-
I
(2)
A t B A C KW A RD op era tio n
O nly th e MOVE in stru c tio n is executed.
If the s te p s have rea c h e d the f irs t step, no r e sp o n se is made s u b se q u e n tly even if the BACKW ARD
T h e m a n ip u la to r moves imm ediately p r io r to the call in stru c tio n if the job is a
called job.
(3)
F o r an in stru c tio n o th e r th a n the M OVE in stru c tio n
When a instruction other than the move instruction
is
executed,
depress
ADDR
and
keys simultaneously.
I F WD
If the instruction is not necessary to be executed, advance by
After address is modified by
When
+
0N
+
ON
key.
—
or
OFF
key,
key is depressed,
FWD ' >
the instruction being displayed is executed.
When
BWD
key is depressed,
If th e in s tru c tio n being disp lay e d is the MOVE in stru c tio n , th e m a n ip u la to r moves to the specified
position.
If the in stru c tio n is o th e r th a n the MOVE in struc tion, th e imm ediately in stru c tio n p r io r MOVE
in stru c tio n is executed.
-
92 -
4. 5. 1. 4
Motion Speed Selection
T h e motion speed in the S T E P mode is executed at the selected m anual speed.
Select it as follows.
( T e a c h P e n d a n t)
Each time this key is depressed,
MAN SPD
: ■
fst
□
F ST
□
FST
FST
□
M ED
■ I
M ED
□
M ED
M ED
□
S LW
■
S LW
SLW
CD SLW
Inching operation is possible.
Motion speed is slow.
Only while this key is d ep re ssed ,
high speed is selected.
Note : A t BA CKW A RD operation, th is key ca n n o t be used.
4. 5. 1. 5
Motion to Reference Point (REFP)
O p e r a te as follows to confirm the p osition s ta u g h t as referenc e points.
■(O peration on T ea ch P e n d a n t ) -
o
D e p re ss
■
ADDR
key.
Check th a t th e p r e s e n t a d d r e s s is the referen c e
po int (REFP) instru ction.
O
0
1
2
3
R
E
F
P
1
m
While
r——\
[ FWD >
holding
down
REF
P NT
key,
depress
key-
T h e m a n ip u la to r moves to the referen c e po in ts
d isp lay e d on teach pendant.
-
93 -
4. 6
P A T H C O R R E C T IO N
If the ta u g h t position is co rre c te d afte r ch eck ing the path, p erfo rm the o p e ra tio n as follows.
4. 6. 1 Inserting Position Data
When a step is inserted in the job, be sure to depress
c=,-a
INSERT
key.
T h is o p e ra tio n need not to be d esignated w hen re g is te r in g im mediately before th e END in stru c tion.
■(Operation on T each P e n d a n t ) “
o
Move the m a n ip u la to r to th e d e s ire d position.
Xs
~
-----2-
X*
xR -
Y+
y
B-
y
B+_
2
T-
Z
s.*.
1.-*-:
;;z-+
u*.
0
0
D e p re ss
INSERT
D e p re ss
RECORD
key.
key.
T h e new ste p is added.
S u b se q u e n t s te p s a r e in c re a se d 1.
insertion
step after insertion
-
94 -
On te ac h condition display, select the specification of in s e rtin g position d a ta w h e th e r
th e p r ec ed in g
ste p or betw een instructions.
« ¡n
A t initial value (preset at the factory), position d a ta a re in se rte d in the prec ed in g
step.
■(Operation on O p e r a t o r ’s Panel)
(D escription)
D e p re ss
D e p re ss
TEACH I key.
[>
key
: => S e t re qu irin g function.
>JI
<3 F1 F2 F3 F4 F5
--------------------------- :------------------------ lu»
D e p re ss
L.Condition J
SQ^ j^gy
= => Set re quir ing function.
Condition
<3
FI
F2
F3
F4
F5
T he teach condition d isp la y will appear.
>
SET
At I F3 I depression
TEACH CONDITIONS
ON
1 R E C T : O N - S Y L :O F F
OFF
I
2 SPEED CHG. CON DITIO NS : O N -SIN G LE : OFF
3 M A S T E R JO B CHG. D ISA B LE : O N - E N A B L E :O F F
4 Edit S T E P DATA ENABLE : ON -D ISA BLE:O FF I
(in the Edit P rotected JOB)
5 Record the S T E P A FTE R LINE :O N -S T E P : OFF
=>
ON
OFF
E x it
□ OD
OD
Set the c u r s o r to the line of “ 5
Record the
S T E P A F T E R LINE : O N - S T E P : O FF" by u s
ing c u r s o r keys.
-
95 -
•
For
in s e r t in g
position
d a ta
ON
str u c tio n s, d e p r e s s
betw een
in
soft key.
F3
F o r in se rtin g position d a ta in th e p rec ed in g
step, d e p r e s s
I so ft key.
[ID
E l ES s a E S s
ÇK
L
For insertion of
preceding step
For insertion between
instructions
Exi t
A fter the setting, d e p r e s s
soft key.
F5
OFF
ON
<1
F1
F2
F3
F4
Exit
F5
>
(E xam ple of ste p in se rtio n )
Line
10
Step
3
11
•
MOVL V = 100
| T IM ER T = l . 0 0 1
12
13
Instruction
DOUT O T #01=1
4
| MOVL V = 100 |
F o r in se rtio n in p re c e d in g ste p
Line
10
Step
3
11
12
13
4
14
5
•
F 0r in se rtio n betw een in s tru c tio n s
Instruction
Line
MOVL V = 100
10
T IM ER T = 1.00
11
DOUT OT#01=1
12
| MOVL V = 100 i
13
MOVL V = 50
14
96
Step
3
Instructions
MOVL V = 100
T IM ER T = 1.0
4
Im o v l
v
=
ioo |
DOUT OT#01 = 1
5
MOVL V = 50
I
4. 6. 2
Modifying Position Data
3
MOCHFY
Be sure to depress
key to change the taught position.
"(O p e ra tio n on T ea ch P e n d a n t )
N
D e p r e ss ADDR key.
T h e lamp will be lit.
o
0
0
T
5
Step
ON I
L
0
Tool D ata
or
M 0
V L
I n stru c tio n
1---ft
off J
Call
+
0N
B
up
or
the
step
OFF
to
modify
by
using
key.
Move the m a n ip u la to r to the d e s ire d position.
;X +
Xs- s +
---^
YY ♦'
L- U>
Z“
■z*
u- u>
*
X
'x '
R- R +
"
y
8-
9s
8+
-~
"J^Z’
. ■¥- t *
El
D e p re ss
MODIFY
key.
T he lamp will be lit.
D e p re ss
RECORD
key.
Only position d a t a is modified.
T h e in stru c tio n and PLAY speed a r e n ’t modified.
If
MOOIFY
key is d ep re ssed , the position d a t a of th e m a n ip u la to r a re not changed.
-
97 -
I
4. 6. 3
Deleting Position Data
P osition d a t a can be deleted if the following co nditions are sufficient :
(1)
T h e ste p to be deleted is the same as the ste p im m ediately before. (Robot axes only)
(2)
T h e position d a t a to be delete d is th e s a m e a s the p rese n t m a n ip u la to r position.
If it is not same, move the m a n ip u la to r to the delete position by ste p f o r w a r d o peration.
Or. correct
r e c t the position d a ta to the p r e s e n t position.
Delete the position d a ta as follows :
■(O peration on T ea ch P e n d a n t ) -
( D e s c rip tio n )
D ep ress
ADDR
key.
T h e lamp is lit
0
0
T
5
Tool d a t a
Step
m
L 0
*+ “
ON !1
M 0
V
L
I n stru c tio n
Call up the step to delete by using
or
|( OFF Ij
1
----
O F F
1
+
0 N
or
1
key.
W h e n th e position is n o t th e s a m e as
the position of the m an ip u lato r, the
s tep n u m b e r will blink.
Move
the m a n ip u la to r, to the
position to be deleted by d ep ressmg
m
D ep ress
[?WD>
DELETE
key.
key.
T h e lamp is lit.
□
D ep ress
m
.
RECORD
key.
T he step will be delete.
MO VE in stru c tio n to position v aria b le can not execute the edit o p era tio n on the
teach pendant.
If the o p era tio n is executed, the e r r o r message 2250 “C a n ’t alte rn a te or delete the
in s tu c tio n ” is displayed.
-
98 -
4. 6. 4
Modifying Motion Type
Motion ty p e specification ca n n o t be modified directly.
A t first, delete th e registereti M OVE in stru c tio n .
T hen, r e g iste r it again.
" (O p e ra tio n on T e a c h P e n d a n t)"
D e p re ss
ADDR
key.
T h e lamp is lit.
! 0 j0
5 1
T
L j0
Tool d a t a
S tep
¡M 0
V
L
I n stru c tio n
B
Call up the step to be delete by usin g
or
o7 f
+
0 N
or
key.
W h e n th e po sition is n o t the s a m e as
the position of the m a n ip u la to r, the
ste p n u m b e r will blink.
Move
the
m a n ip u la to r, to the
position to be deleted by d ep re ssmg
D e p r e ss
DELETE
key.
|F W D ^ >
key.
T h e lamp is lit.
D e p re ss
RECORD
key.
T h e ste p will be delete.
-
99 -
I
R egister the ste p modified the motion mode.
5
Select th e d es ire d
MO T I ON
TYPE
motion ty p e by d e p r e s s in g
key.
MOTION
□ - joint I
' am Ps se quen tially c h a n g e a t
□ -iNR | each tim e th is key is d ep re ssed .
n^ciRo
D e p re ss
PLAY
SPD
key.
Set the p la y b ac k speed by using
ON,
oT f
[5J As necessary,
+
0 N
or
key-
W h e n th e p o sitioning level specification is r e
qu ired ,
POS
LVL
decide
the
position
key.
D e p r e ss
INSERT
D e p r e ss
RECORD
key.
\
T h e new M O V E in stru c tio n is registered.
-
100 -
key.
and
depress
4. 6. 5
Modifying Motion Speed Data
“^ ^ “ “ ■ " ( O p e r a t i o n on T ea ch P e n d a n t ) “* “
D
D e p re ss
key.
ADDR
o
0
0
5
Step
Check th a t p r e s e n t a d d r e s s is MOVE instuction.
T L O
M O V L
Tool d a t a
I n stru c tio n
B
D ep ress
PLAY
SPD
key.
T h e play speed sta g e selected p r e v io u sly
is displayed.
Select the play speed stage from am ong 8 stages.
H- I
ON_ I
or
O FF
1
1
0
I
M M /
S
• !0 M M /
S
1.
E ven if the m anu al speed is
changed, the play speed stages
4
2 3
2
(for
8
| 1
5
14
6
0 M M /
s
0
0
0 M M /
s
a re
2.
T h e play spe ed d a t a s e ttin g is
a b b r e v ia te d
□
D e p r e ss
MODIFY
D e p re ss
RECORD
by
d e p r e s s in g
key.
key.
T h e new motion speed d a t a a r e reg istered .
\
-
not
changed.
4
3
r e g istra tio n )
101 -
I
4. 6. 6
■"
Modifying Positioning Level
....( O p e ra tio n on T ea ch P e n d a n t ) " “
D
D epress
ADDR
key.
Check th a t the p r e s e n t a d d r e s s is the M OVE in
stru ctio n .
■
D e p re ss
POS
LVL
key.
T h e te ac h p e n d a n t d isp la y ch anges
from ( a ) to ( b) .
0
0
5
Step
P
T
L 0
Tool d a ta
E V E
• |L
L
M 0
V
L
I n stru c tio n
1
Positioning
level
+
ON
or
Select
OFF,
or
□
m
th e
o7 f
p o sitio ning
level
by
u sin g
+
0 N
key.
Depress
MODIFY
key.
D e p re ss
RECORD
key.
T h e new p o sitionin g level is reg istered .
m m
If positioning level sp e cific atio n is deleted, r e g iste r M O V E in stru c tio n a g a in a f te r
deleting th e M O V E in stru c tio n w ith p o sitioning level.
-
102 -
4. 6. 7
■h■
Modifying Reference Point
( O p e ra tio n on T each P e n d a n t )■
(Description)
Depress
AD DR
key.
Check that the present address is the MOVE in s tru c
tion.
B
REF
P NT
Depress
key.
o
T each p e n d a n t d isp lay
0
1
2
3
R |E
R E |F
P
1
The teach pendant display changes from ( a ) to (b).
F
P
2
m
OFF
Select
the
+
or
0 N
reference
OFF
point
number
key.
D epress
MODIFY
key.
Depress
RECORD
key.
The new reference number is registered.
T h e position d a ta a re also changed.
-
103 -
by
using
4. 7
TEAC H LO C K RELEASE
Release the teach-lock afte r the teaching.
ENABLE
D e p re ss
key.
T h e enable lamp on te ac h p e n d a n t d isp lay will be
t u r n e d off, and sho w n “LOCK —ON.”
D e p re ss
OFF
key.
T h e d isp lay c h a n g e s from “LOCK — ON” to “LOCK
-O F F ."
If
the
teach
lock
is
set
again,
depress
key.
4. 8
T E M P O R A R Y R E L E A S E O F S O F T L IM IT C H E C K
T h e w o rk in g ra n g e of m a n ip u la to r is r e s tr ic te d a t the following th r e e soft limits.
(1)
Maximum w o rk in g ra n g e each axis
(2)
M echanical in te rfe re n c e a r e a betw een axes
(3)
A llow able w o rk in g a r e a in r e c ta n g u la r p ara llellopiped, w hich is set p ara llel to th e ro b o t —c o o r d in
ate system.
T h e se soft lim its a re a lw a y s m onitored on the system.
If th e m a n ip u la to r (control point) re a c h e s to any soft limits, the m a n ip u la to r will stop autom atically.
Move th e m a n ip u la to r to th e r e v e r s e direc tio n if th e m a n ip u la to r sto p s due to soft limit.
Release te m p o r a r y the soft limit as follows.
-
104 -
■ (O peration on T ea ch P endant)*
(Description)
(¡¡ZD
Depress
TEACH
Depress
[>
key.
It e a c i
0
key to call up the soft key labels
for releasing the limit.
O ther |oD
I
I M a s te r |ob
3 1F1 11F2l I F3 11F4 II
[Â
Displays when Q r TH soft key is depressed.
D e p re s s
I Limit 0 p6 n
soft key to release the soft
[T2J
limit.
A flrss av e
A
F1,
L im it o p e n
F2
j ----
iF -L S o p e n
F3
R e su m e
F4
Condition
A
F5
Q
Move the m a n ip u la to r to the r e v e r s e directio n for
the o p e r a te d direction.
Adrs s a ve
A
F1
L im it o p e n
F2
IF -L S o p e n
F3
Resum e
C on dition
F5
A
R esum e
ESTO P
Then, depress
I
f
4 I
soft key, depress MODE
key, or tu rn the power off to reset the soft limit.
T he te ac h in g d a ta c a n n o t be re g iste re d d u r in g soft limit release.
-
105 -
I
4. 9
INTERFERENCE PREVENTION FUNCTION IN THE INTERFERENCE AREA
P ro c e ssin g to p r e v e n t in te r fe re n c e is executed in the I / O p ro c e ssin g section.
ecuted in S-axis area.
T h is function is not e x
Because, in the s ta n d a r d system, the in te rfe re n ce p rev e n tio n function only is
su p p o r te d in th e cubic in te rfe re n c e a r e a (2 places).
In the Y A S N A C ERC, th e r e c ta n g u la r para llelo p ip ed a r e a is se t in th e m a n ip u la to r w o rk in g area,
an d th e s ta tu s signal is o u tp u t w h e th e r the co n tro l point d uring o p e r a tio n is inside or outside e a c h area.
T h is r e c ta n g u la r p a r a llelo p ip ed a r e a is set p a ra lle l to the b ase c o o r d in a te as show n below. F o r the
m a n ip u la to r only, it is coincided w ith the ro b ot-c oo rdin ate system.
INTERFERENCE
Set in a bsolute value on base co ordina te
(in units of 0. 1 mm).
T r a v e l axis is
also included.
Base —c o o rd in a te System and Inte rfe re n c e A re a
T h e cube in te r fe re n c e signal is o u tp u t as inside cube (1 or 2) signal.
T h is is tu r n e d on w h en th e
co ntrol po int is in in te r fe re n c e area.
F o r th e e x t e r n a l in p u t signal, in te rfe re n ce 1 an d 2 sig n a ls are p ro v id e d for cube inte rfe re nce .
W h e n the in p u t signal is tu r n e d on d u r in g operatio n, th e m a n ip u la to r will slow dow n an d stop.
W h e n th is signal is tu r n e d off, th e m a n ip u la to r will o p e r a te a g a in au to m atica lly .
T h u s, th e se I /O sig n a ls p ro te c t p lu ra l m a n ip u la to rs w ith th e same w o rk in g a r e a from the i n te r f e r
ences.
T h e se I /O sig n a ls can also be utilized as interlock signal to p ro te c t the p e rip h e ra l jig inte rfe re nce s.
F o r the I /O te rm in a l n u m b e r, refer to “YASNAC ERC M ain tenance M a n u al” (TOE — C 9 4 5 — 130).
-
106 -
T h e relation betw een the ERC I /O signal and m a n ip u la to r o p era tio n is as show n below.
If in w aitin g s ta tu s w ith the E n tr a n c e P ro h ib it signal, the ro b o t j u s t b a re ly e n te r s the
a r e a for speed redu ction p ro c e ssin g and then stops.
-
107 -
• I /O sig nals in YASNAC ERC c on troller
YASNAC ERC
O p e r a tin g inside cube 1
O u tp u ts in cube while m a n ip u la to r is operating.
------ ^
In terferen ce w aiting
------ —
O u tp u ts while m a n ip u la to r is w a itin g by en
tr a n c e p ro h ib it signal.
Inside cube 1 e n tra n c e p r o h ib it
T h ese signals a re checked w hen m a n ip u la to r en
te r s in cube.
Inside cube 2 e n tra n c e p r o h ib it
• E xam ple of connection w h e re two m a n ip u la to rs a r e o p e ra te d in the same area.
M a n ip u la to r A
M a n ip u la to r B
Inside cube 1 e n tra n c e proh ib it
O p e r a tin g in side cube 2
Inside cube 2 en tra n c e p ro h ib it
Inside cube 1 e n tra n c e p ro h ib it
O p e ra tin g inside cube 1
In sid e cube 2 en tra n c e p ro h ib it
O p e ra tin g inside cube 2
I n te r f e r e n c e w aiting
Interference w a itin g
A larm signal
F o r the in te rfe re n ce a r e a setting, contac t y o u r Y ask a w a re p re se n ta tiv e .
-
108 -
SECTION
5
PLAYBACK OPERATION
CONTENTS
PA G E
5
5.
P L A Y B A C K O P E R A T IO N 1
- 109
PA G E
5. 4
STOP AND RESTART OPERATION
DURING PLAYBACK OPERATION •1 2 2
P L A Y B A C K O P E R A T IO N
110
5. 4. 1
H O L D ( P a u s e ) ................................... • 122
PREPARATION FOR PLAYBACK ■ 111
D
in**.
1 U
’ 111
5. 4. 2
5. 2.
5. 4. 3
Emergency S t o p ............................... ■ 124
r>i l r
/a i
125
5. 2. 2
D ispla y of Job Text ....................... ■ 112
5. 4. 4
Stop by W ire Sticking .......... • 1 77
5. 2. 3
C a lling Up of Master Job ......
113
5. 4. 5
Stop d u r in g W e l d i n g ............. ■128
5.
3
P L A Y B A C K ..................
114
5. 4. 6
Other Stops .....................
m
5. 3. 1
Start Operation .................
115
5.
S P E E D C O R R E C T I O N ......
i?q
5. 3. 1. 1
Specification of Start Operation • • ■116
5. 3. 2
Special Operation at PLAY Mode ■■■' 118
5. 3. 2. 1
Speed A d ju s t m e n t Operation •• • ■ 118
1
A
IA
1 ¿u
5. 5. 2
Speed Correction by E D IT Operation
5. 3. 2. 2
5. 3. 2. 3
Check O p e r a t io n .............................
5. 5. 3
Speed Correction by T R T Operation
5. 3. 2. 4
Machine Lock O p e r a t io n ................ ■121
F L O W C H A R T ...............................
5.
2
•120
-
5
5. 5. 1
Speed Correction by Speed Override
Specification at P L A Y M o d e .... •129
I 00
at T E A C H M o d e .............................
109 -
•138
I
5. 1
P L A Y B A C K O P E R A T IO N F L O W C H A R T
• R e gistration of m a ste r job .........................................
• D isplay of job te x t ........................................................
• Calling up of m a ste r job ..............................................
Preparation
for playback
P ar.
5 . 2 . 1
5 . 2 . 2
5. 2. 3
Par. 5 . 2
Par. 5 . 5
S ta r t o p era tio n ................................................................. ...5 .
Specification of s ta r t o p e r a t i o n ................................ ...5 .
Special op era tio n at PLAY mode ........................... ...5 .
Speed a d ju stm e n t o p eration ........................................5 .
Low speed op era tio n ................................................... ...5 .
Check o p e ra tio n ............................................................ ...5 .
M achine lock o p e ra tio n .............................................. ...5 .
3. 1
3. 1.
3. 2
3 . 2 .
3. 2.
3. 2.
3 . 2 .
H O L D ( P a u s e ) ......................................................................
Em ergency s t o p .................................................................
Stop by e r r o r / a l a r m ........................................................
Stop by w ire stick in g ...................................................
Stop d u r in g W e ld in g ........................................................
O th e r sto p s ......................................................................
.
.
.
.
.
.
Speed correc tio n by speed
o v e r r id e specification
at PLAY m o d e .................................................................
Speed correctio n by EDIT
o p era tio n at TEACH m o d e ..........................................
Speed correctio n by T R T
op eratio n at TEACH m o d e .........................................
-
110 -
5
5
5
5
5
5
5
5 . 1
5. 5. 2
5
5. 3
1
1
2
3
4
5. 2
P R E P A R A T IO N F O R P L A Y B A C K
Before p la ybac k operation, specify and call up the job to be executed.
W he n th e job is executed co n
tinuo usly , it m ust be p rev io u sly registered.
5. 2. 1 Registration of Master Job
(O p e ra tio n on the O p e r a t o r ’s P a n e l )
+
(Description)
^
Depress I Master job
D
soft êy.
F5
^
Depress
I Store i
¡=p^—
soft key.
Specify the job by usin g CURSOR keys.
H
D e p re ss
TE A C H MODE
1987 05 21 II) : 3d
A C T Y JO B
E D IT JO B
I B L (»»III !
.......... L (XXKi !•
key
H O I.I)
JO B L IS T
JO B T O T A L 2
CURSOR
ENTER
M E M O R Y 216 B Y T E S R E M A IN S :32644 B Y T E
P O S IT IO N : 15 P O IN T S R E M A IN S 2225 P O IN T S
NO. JO B N A M E P O S IT IO N S
PROG D A T E T IM E P R O T E C T SA V E
,000.1 T E S T
12 l 9 )
1988 01 % 17 : (Mi
ON
tX )N E
!
123
239 i h t
1988 01 (»6 17 : (Mi
Display
changes
0000000
-
111 -
Now, the m a ste r job is reg istered .
T h e d isp la y becomes as sho w n on the left.
I
M eaning of m aster job
In autom atic operation, the m a ste r job is executed r ep e atly as sho w n in the figure below.
W he n the job ju m p a n d / o r job call in s tru c tio n s a re re g iste re d to the m a ste r job, the m a n ip u la to r e x
ecutes these jobs (job 1, 2, 3, etc) and r e t u r n s to th e m a ste r job.
In th is respect, th e m a ste r job m eans
the o rigin al job.
5. 2. 2
Display of Job Text
D isplay the job te x t before playback.
— ( O p e ra tio n on O p e r a t o r ’s P a n e l) —
(Description)
Depress
DIS P
key.
The job list will appear on CRT display.
0
POSITION: Ir-POINTS R EM A IN S 222r>PDINTS
N o JO ß N A M E i P O S IT IO N S PK O G .D A T E T IM K P R O T E C T SA V E
00001
TEST
00002
123
12 (. 9
> 0 0 0 0 /0 0 /0 0
0 0 :0 0
(
( 0 0 0 0 /0 0 /0 0
0 0 :0 0
239
6
Depress
Job
|7T|
soft key.
= = > S e l e c t d is p la y menu .
Job
P o s itio n
File
Diagrosis
S T ACK OISP
T h e d isp la y of job te x t will appear.
-
112 -
5. 2. 3
Calling Up of Master Job
(Description)
Depress
TEACH
key.
Depress 1— Masler— 1 soft key.
Depress 1—
Depress
— ! soft key.
PLAY
key.
D e p r e s s S T A R T button.
T h e m a n ip u la to r s t a r t s p la y b a c k o p e ra
tion.
MMM
1 • The manipulator should be started at the specified position in play condition display.
2 . The master job can also be called up in PLAY mode.
Master call
=>
t> j I
3 =>
3 . T h e r e g iste r e d m a s te r job name and call s ta tu s of job a re confirmed.
f= — |
c
l
|STACK DIS
°
a
113 -
5. 3
PLAYBACK
L et’s o p e ra te th e m anipu lator.
Make s u r e th a t no p erso n n e l a re w ithin the r e s tr ic te d w o rk envelope of
the m anipu lator.
Depress
PLAY
key.
Select the operation cycle by depressing
either
AUTO
.
1 CYCLE
or
STEP
key.
For these key functions, see “★ Operation
cycle" below.
See p a r . 5. 3. 1.
START
Executes one instruction each time
(f^ j)
b u t t o n ' s depressed.
O p e r a te s con tin u o u sly until END in stru c tio n is executed.
However, if the called job is ex-
hcycleI
ecuting, the m a n ip u la to r will not stop by END instruction.
«■m
A U T O o p e ra tio n is p erform ed by r e tu r n in g to the f irs t p a r t of the m a ste r job automatical-
|a u t o ]
ly w hen the m a s te r job END in stru c tio n is executed.
T h e A U T O cycle is effective only w ith the m a ste r job.
F o r o th e r jobs, 1 -cycle o p eration
is perform ed.
The selected operation cycle remains until another operation cycle key is depressed.
-
114 -
5. 3. 1 Start Operation
T here are two methods of starting PLAYBACK (automatic operation).
START
(1)
Depress
(2)
Specify from external input (special input).
( f \ \
button on the operator's panel.
Specify either (1) or (2) in the playback condition display in advance.
These operations are interlocked as shown in Fig. 5. 1.
Fig. 5 .1 .
Start Operation Effective/ineffective
-
115 -
5. 3. 1. 1 Specification of Start Operation
( O p e ra tio n on O p e r a t o r 's P anel)™ '
(Description)
""
Depress
P LA Y
key.
T h e speed a d ju stm e n t se ttin g s ta tu s is
d isp lay e d
in the job te x t (instruction)
display.
D e p r e ss
[t>]
key.
• S e le c t th e fu n c tio n
S p e e d ad|
<1
A dist co m j
F1
P2
S low speed
F3
efiec k
R e le a s e
F4
F5
Condition
D epress
' S e le c t th e fu n c tio n
Masíei cali
<¡
a
F1
M a c h lo c k
F2
F4
F3
C o n d itio n
F5
key.
o
CURSOR
□
[is]
T he p la y b a c k condition d isp lay is called up.
Place the c u r s o r on e ith e r “ 1 " or “ 2
Set th e
+
ON
or
O FF
ON
f* l
El !
-
116 -
sw itch
or
O FF
s ta tu s
by
d e p r e s s in g
CURSOR
OD
□ □
Select eith er
one by using
SW ITCH
CURSOR keys.
'S T A T U S
D e p r e ss
! Exil 1
soft key.
fro]
W h e n “ 1 ” is selected, d e p r e s s S T A R T
or “PZxternal signal O N ”
button.
W h e n “ 2 ” is selected, t u r n s the e x tern al
signal ON.
T h e m a n ip u la to r will s t a r t th e play b ac k
operation.
This setting can not be performed during EDIT LOCK.
-
117 -
I
5. 3. 2
Special Operation at PLAY Mode
W h e n the PLAY mode is selected, soft keys a r e disp lay e d for special function selection in playback.
D e p r e s s the soft key to be executed.
O p e r a tio n s of those fun ctions a re ex plain e d in each p a r a g r a p h
below.
(a )
(P aragraph)
..............................
(S pe cia l fu n c tio n s )
5 . 3 . 2 . 1
Speed a d ju stm e n t ........................................
• D ry - r u n speed
• In
g u a r d - safety speed
(b)
Low speed o p e r a t i o n ...................................
5 . 3 . 2 . 2
(c )
Check o p e r a t i o n .............................................
5. 3 . 2. 3
(d)
M achine lock op eratio n
5 . 3 . 2 . 4
5. 3. 2. 1
..........................
Speed Adjustment Operation
If loci are checked in play b ack o p eration (par. 5. 3. 2. 3), the ta u g h t speed can be limited te m p o rarily to
o p era te at a safe speed.
(1)
Select one of the following two ty p e s of limit values.
D ry r u n speed
P la y b a c k o p era tio n s a r e p erfo rm ed a t a d ry-run speed (constant speed), n o t a t th e t a u g h t speed.
By using d ry-run a t co n firm a tio n of jobs w hich h av e m uch low-speed motion, th e c o n firm a tio n
tim e ca n be reduced.
For the steps where the taught speed is lower than the dry-run speed, be careful of the moving
speed because it is faster than that of taught speed.
(2)
In -g u ard -safety speed
T he p la y b ac k speed is limited to the u p p e r limit value.
T h erefo re, s te p s desig n ated for speeds
fa ste r th a n the u p p e r limit valu es are r e s tric te d by th is limitation.
However, o p era tio n is p e r
formed at actual p lay b ack sp eed s in s te p s within the limit value and is useful in checking o p e r a
tion in actual work.
In -g u ard -safety speed is set at 25% of maximum speed.
: Taught speed, usual
playback
operation
speed.
: Motion speed
at in - guard - safety
operation.
■ Operation speed de
signated dry-run
Fig. 5. 2
Dry
Run Speed
-
and
118
-
In - guard - Safety Speed
★
Specification of speed adjustment
(Description)
Depress
key.
P LAY
Depress
soft êy.
LZD
To
,
select
Dry - run
the
dry-run
speed,
depress
I
soft key.
To select the in - guard - safety speed,
depress
| Safety spd
i——i
soft key.
Depress START button.
★
Release of speed adjustment
(Description)
Depress
PLAY
^
Release
Depress ---- —
key
.
soft key.
,
T h e speed a d ju stm e n t specification is released.
-
119 -
5. 3. 2. 2 Low Speed Operation
F o r safety, the m a n ip u la to r can be moved at low speed d u r in g the f irs t section, w ith o u t r e g a rd to the
ta u g h t speed.
F ro m the next section, the m a n ip u la to r moves at ta u g h t speed.
(Description)
Depress
PLAY
key
Depress ! S|ow speed , s o f j k e y
T h is is effective in checking loci in autom atic operation.
By r e s e r v i n g CHECK O PER ATIO N, w o rk i n
s tr u c tio n o u tp u ts such as the ARC in stru c tio n a re not executed.
R e serv e CHECK O PE R A TIO N before p erfo rm in g idle o p era tio n in the p la y b ac k mode.
(Description)
Depress
PLAY
Depress
Check
key
I soft key.
D e p r e ss S T A R T button.
T he m a n ip u la to r s t a r t s p la y b ac k operation.
-
120 -
1 Release
1 . For releasing the check operation, depress
[p
l a y
)
key and
j FS|
j
soft key.
2 . Check operation reservation is released automatically in the following cases.
• The mode (except PLAY mode) is selected.
• The power supply is turned off.
5. 3. 2. 4
Machine Lock Operation
M achine lock is specified w hen checking the I /O s ta tu s at the job playb ack w ith o u t moving m anipu lator.
(Description)
Depress
Depress
PLAY
mode.
[> 1 key.
Depress
soft key.
HE
Release
1 . For releasing the machine lock operation, depress
[p
la y
)
key and
F5
2 . Machine lock is released automatically when the power supply is turned off.
-
121 -
soft key.
5. 4
S T O P A N D R E S T A R T O P E R A T IO N D U R IN G P L A Y B A C K
O P E R A T IO N
T h e m a n ip u la to r will stop in the following conditions.
( C o n d itio n s)
(P aragraph)
• HOLD ( P A U S E ) ............................................................................................................................... 5 . 4 . 1
• E m ergency s t o p ............................................................................................................................... 5 . 4 . 2
• Stop by e r r o r / a l a r m ......................................................................................................................5 . 4 . 3
• Stop by w ire s t i c k .......................................................................................................................... 5 . 4 . 4
• Stop d u r in g w e l d i n g ..................................................................................................................... 5 . 4 . 5
• O t h e r s .................................................................................................................................................. 5 . 4 . 6
5. 4. 1
HOLD (Pause)
W h e n HOLD is specified, the m a n ip u la to r sto p s imm ediately and S T A R T p u sh b u tto n lamp is tu r n e d off.
HOLD can be specified on o p e r a t o r ’s panel, teach p en d a n t or e x tern al input.
If HOLD is specified on teach pendant, it can be released only on the teach pendant.
(1)
HOLD by o p e r a to r 's panel
• S to p
W h e n HOLD p u sh butto n on o p e r a t o r ’s panel is d ep re ssed ,
the m a n ip u la to r sto p s immediately.
T h is op era tio n is possible in any mode.
T h e lamp will
light in th e following cases.
HOLD lamp is tu r n e d o u t if I
HOLD lamp is lit if
HOLD p u s h b u tto n is d e p r e s s e d on o p e r
a t o r ’s panel.
T he HOLD p u s h b u tto n is released.
HOLD is o p e ra te d on teach pendant.
HOLD is released by the teach pendant.
Refer to p ar. 5. 4 . 1 . 1 (2).
HOLD signal is d esign ated th ro u g h an
external in p u t (special input).
T he HOLD signal from e x te rn a l in p u t is
released.
By executing the PAUSE instruction, the HOLD lamp is not lit, but only the message “PAUSE" is
displayed.
R e s ta rt
D e p re ss S T A R T p u s h b u tto n on o p e r a t o r ’s panel to r e s t a r t
the m anipulator.
-
122 -
(2)
HOLD by teach p e n d a n t
Stop
CONT
;ONT— HOLD— START
While holding down
€
key on teach pendant, depress
— HOLD
key.
(a )
The manipulator pauses momentarily.
A t T E A C H mode
/-C O N T — HOLD— START
□EXJ
STEP — • < f f c A p W P >
(b)
-H O L D
At PLAY or REMOTE mode, only depress
key.
A t PLAY and
R E M O T E mode
•CONT
— START
£
R e s ta r t
D ep ress
and
k ey s on teach p en d a n t
sim u lta n eo u sly to rele ase HOLD.
i f r t i j HOLD specified from teach pendant is released
only from teach pendant.
(3)
HOLD by e x te r n a l in put
Connect HOLD signal to the specified position of e x te rn a l input. W he n the in p u t signal is O F F (contact
is opened), the m a n ip u la to r sto p s immediately.
T h e HOLD lamp will light and no s t a r t o p eratio n can be
accepted.
T o rele ase the HOLD, t u r n the e x te rn a l in p u t to ON.
-
123 -
I
5. 4. 2
Emergency Stop
• Stop
/*
"
E STOP
\
T h e se rv o pow er m ust be cut off an d the m a n ip u la to r sto ps
immediately by d e p r e s s in g the em ergency stop butto n on
the o p e r a t o r ’s panel or on the teach pendant.
T h is o p eration can be in effect anytim e and in any
mode.
(a)
On o p e r a to r 's panel
f E.STOP"\
(b)
On teach p e n d a n t
R e s ta rt
T u r n the em ergency stop b u tto n on o p e r a to r ’s panel in the
direction of the a r r o w to the original position, and d e p r e s s
SERVO POWER
-
124 -
key.
T he se rv o po w er will t u r n on.
5. 4. 3
Stop by Error/Alarm
If an e r r o r or alarm occurs, the e r r o r o r alarm code is d isp lay e d on CRT d isplay and the m an ip u la to r
will sto p immediately.
How ever, w h ere the e r r o r or alarm is not affected in the m an ip u la to r motion,
the m a n ip u la to r continu es the operation.
(1)
Stop by e r r o r
• D isplay
R
R O R
Error No.
(a )
O per; l o r ’s Panel
(b)
Fig. 5 .3
T each P en d an t
Error Display
i
U sab le keys d u r in g e r r o r
f
HOLD
(b)
(a) On o p e r a t o r ’s panel
£ STOPÏ
On teach pendant
E r r o r rele ase
Depress
CANCEL
key on operator's panel.
The lamp will light.
E rr o r message goes off and e rro r is released.
er r o r is released.
-
125 -
E rr o r message goes off and
(2)
Stop by alarm
• D isplay
A larm 1 2 3 4
The alarms (4 max.)
A larm 1 0 1 5
is displayed
A larm 2 0 1 2
automatically.
A larm 3 1 1 3
A larm No.
F ifth or s u b s e q u e n t a la rm s will not be d is p l a y
ed, b u t will be rec o rd e d as alarm history.
(a )
O p e r a t o r ’s Panel
(b)
T each P e n d a n t
U sab le keys d u r in g alarm
f E S T O P ')
HO LD
Release
DtSP
(a) On o p e r a to r 's panel
!» lia
(b) On teach p en d a n t
Servo power is automatically turned off if a critical alarm occurs such as a hardware failure.
setting is not possible, no function is possible.
If re
Then turn off main power and correct the trouble.
A larm release
D e p r e ss
J|||jj
T h e CRT d isplay r e t u r n s the s ta tu s before the
T h e lamp is tu r n e d on again and the alarm is
a larm occur.
released.
1 . The alarm can also be released by an external signal.
2 . If the CRT display is changed during alarm, the alarm display reappears even if following operations
are executed.
• When the mode is changed.
• When START is specified.
When
EDIT
key is depressed.
-
126 -
5. 4. 4
Stop by Wire Sticking
W ire sticking is a status where welding wire and bead are connected under no welding.
The manipulator
START
monitors the wire sticking status when ARC OFF is executed in PLAY mode and
button is d e
pressed in PLAY or CHECK mode.
’ Stop
H O LD
When wire sticking is detected,
*amP on operator's
rA SN A C C R C
panel is lit automatically and the manipulator stops immediately.
The external output relay
[w ire sticking]
is activated.
(The
contact is closed.)
Restart
When the stuck wire is cut,
V
HO LD
lamp gose off and the
YASNAC ERC
tact is opened.)
In this status, depress
The manipulator moves
-
127 -
I
5. 4. 5
Stop during Welding
If the m a n ip u la to r sto p s d u r in g welding, the ARC O F F is executed automatically.
• Restart
START
Depress
))
displayed step.
button on o p e ra to r’s panel.
The ARC ON is executed and the manipulator moves to the
At this time, the welding conditions (current, voltage, etc.) are those of the last executed in
struction V W E L D / lJ L jlJ/AWELD/L-JL-JLJ.
LOCUS from restart
[T]
(Stop and restart positions are same.)
ARC ON
LOCUS from restart
( Stop and restart positions are
Restart
lnl
^different.
( After the manipulator stops,
'N
Vit is moved by teach pendant.)
nsija« Be sure to restart the manipulator at stopped position because it executes ARC ON from the res
tarted position.
If the manipulator is moved, put it back to the stopped position by using teach pen
dant.
Fig. 5 .6
Stop and Restart during Welding
For circular operating or weaving, the manipulator is restricted as follows.
O peration
R e sta rt Method
HOLD
C irc u la r
i n te r p o la
tion and W eav in g
W he n the stop and r e s t a r t p o sitions a re the same, ARC
ON is executed from the position and c irc u la r in t e r p o l a
tion or soft w ea vin g op era tio n is resum ed.
Stop exc ept HOLD
C irc u la r
tion
T h e op era tio n is not possible.
Stop Method
i n te r p o la
Soft w eavin g
5. 4. 6
(1)
ARC ON is executed w itho ut w ea v in g o peration.
Other Stops
P au se by chan g in g the mode
W h e n the mode is changed d u r in g operation, th e m a n ip u la to r sto p s immediately.
(2)
P au se by execu tin g P A U S E in stru c tio n
When
the
condition
is
satisfied
in
PAUSE
instruction,
the
manipulator
START
button is depressed, the manipulator sta rts from the next instruction.
-
128 -
stops.
When
the
5. 5
S P E E D C O R R E C T IO N
T h e r e g iste r e d speed co rrec tio n is executed by any method below.
• A t PLAY mode, c o r r e c t by “speed o v e r r i d e ” s p e c i f i c a t i o n ...........
Par. 5. 5 .1
• A t T E A C H mode, c o r r e c t by E D IT op era tio n
...................................
P ar. 5. 5. 2
• At TEACH mode, co rrec t by T R T op eratio n
...................................
Par. 5. 5. 3
5. 5. 1 Speed Correction by Speed Override Specification at PLAY Mode
T h is speed c o rrec tio n ca n be ex e cu ted w ith the m a n ip u la to r m otio n an d w ith o u t a lteratio n of the ta u g h t
job contents.
By usin g th is function, the job can be played back with v aried speed until the actual
op eratio n speed is adjusted.
W h e re the speed d ata co rrec tio n is specified, only speed d ata of actual moved step are co rrected for
each step when the m a n ip u la to r h as reach ed the ta u g h t position of each step.
1 . If the override specification becomes ineffective during manipulator motion, the speed data of the step
^
cannot be corrected.
2 . The corrected speed is limited by max/min speed of the manipulator.
In o v e r r id e specification, the actual play b ack s p e ed is v aried at specified ratio to the ta u g h t motion
speed.
T h e se ttin g ran g e of o v e r r id e ratio is 5 0 to 1 50% (in u n its of 1%).
T h e o v e r r id e specification can be executed on o p e r a t o r ’s panel and teach p en d a n t u n d e r the following
conditions.
• O p e r a t o r ’s panel I T h e se ttin g is possible only when the m a n ip u la to r stops.
• T each p e n d a n t ^ Even if the m a n ip u la to r is moving, the settin g is possible.
-
129 -
I
5. 5. 1
(1)
Speed Correction by Speed Override Specification at PLAY Mode (Cont’d)
O v e r rid e specification on o p e r a t o r ’s panel
(Description)
Depress
PLAY
key
Depress LAReed aiji I soft key.
HE
Depress
Depress
I—Override—| SQjt ^
Tf21
R e w rite
[F4]
soft
key
when
the
taught speed data is required correction.
/ W h e n correction is not need ed,\
j
\d e p r e s s
Unrewrite
,
1— p===,— 1soft key.
/
T he soft key labels for num e rical value
in p u t will appe ar.
In p u t th e o v e r r id e ra tio by usin g these
soft key s and ,— Pr— —i key.
□ S B
□ 0 0
□ 0 0
Depress
-
130 -
ENTER
key.
CURSOR
JOB NAME
The input data are registered as r e se rv a
r f ---------------------------------------------------------'i?
r
PLAYBACK
ACTIV JOB : X X X X X X X X
tion value of override ratio.
W here the correction is executed, the new
[ LINE
STEP
INSTRUCTION
0000
000
NOP
0001
001
MOVJ VJ = 6 0 . 0 0
0002
002
M OVL V = 5 0 0 . 0
data are registered, and are checked on the
playback CRT display as shown in Fig. 5.7
0003
DO UT O U T # 12 = 1
#
ADJUSTING SPEED OVERRIDE (DATA: CHANGE) 95?»
Reservation status is displayed.
= = > Available to adjust speed.
O v e r r id e
|
j
D ry -ru n
|
| s^ e ty
spd
Fig. 5. 7 Display of Override Reservation Status
-
131 -
5. 5. 1 Speed Correction by Speed Override Specification at PLAY Mode (Cont’d)
(2)
O v e r rid e specification on teach pen d a n t
- <Operation on T e a c h P e n d a n t )
t
^
(Description)
O p e r a t o r ’s panel
Depress
key.
PLAY
PLAY
m
Depress LSpeedadjJ SQjt ^
EL
r.
I
Override
I
c*. ,
Depress 1— p=^— 1 soft key.
172]
-
132 -
□
Rewrite
Depress
soft
key
when
the
r
m
taught speed data is required correction.
/W h e n the correction is not needed,
U nrewnte
Vdepress —
|
—
soft key.
/
T each p e n d a n t
Depress
ENABLE
key
Depress
PLAY
SPD
key.
The lamp is lit.
B
or
ON
—
OFF
Change
the
+
ON
11
+
0N
override
ratio
by
using
_
or
and
OFF
OFF
key.
keys
are
de
pressed simultaneously, the ratio is input
at 100%.
irm a
1 . The setting range is 50 to 150%.
2 . If the in-guard-safety operation is specified simultaneously, the manipulator motion speed is limited
to the safe speed.
However, the specified speed data are corrected in memory.
O p e r a t o r ’s panel
Depress
a
-
133 -
ENTER
key.
I
5. 5. 1
(3)
Speed Correction by Speed Override S pecification a t PLAY M o de (Cont’ d )
O v e r rid e release
(Description)
Depress
PLAY
Depress
R e le a s e
<
key.
soft key.
T h e o v e r r id e specification will be
can ce lled .
It can also be released under the following cases.
1Dry-run is specified.
Mode is changed.
• One cycle has been completed by END instruction.
• Power supply is cut.
Alarm or error occurs.
-
134 -
5. 5. 2
Speed Correction by EDIT Operation at TEACH Mode
S peed d a t a c o rre c tio n h a s tw o m e th o d s on o p e r a t o r ’s panel
(1)
(2)
In link speed (Vj), T C P speed (V), wrist-angle speed (V K ) and external-axis speed (VE), only
desired speed data are changed to the specified value.
W ith o u t r e g a r d to the kind of speed d ata ( V j , V , V R and V E), speed d ata of job can be c o r
rected by specified ra tio (2 to 200%).
T h is method is called “rela tiv e co rrect" operation.
Method (2)
Specify either link speed (V J ),
TCP
speed (V ), wrist - angle speed (V R )
Depress !
speetiJ soft key.
|F5I
or external axis speed (V E).
Input the speed data.
Depress |
enter
Input the ratio (1 to 200%).
]
key.
NO
Depress I iExiti J soft key.
Depress I
Skip
soft key.
\m
Fig. 5 .8
-
135 -
Speed Data Correction Flowchart
]
5. 5. 2 Speed Correction by EDIT Operation at TEACH Mode (Cont’d)
■<Operation on O p e r a t o r ’s P a n e l)
\
(Description)
Depress
DISP
key.
DtSP
Depress
Job
soft key.
Place the cursor on the step to be corrected
CURSOR
□
by using CURSOR keys.
Where the some steps are corrected to the same value, place the cursor on the lowest number step.
□
Depress
EDIT
Depress
Speed chg
key.
EOT
j soft key.
HU
In s e r t
i
A lt e r
FI
O e le t e
L in e e d it
FS
F4
S p e e d chg
RLj D>
= 0
m
Depress desired soft key.
V J sp eed
Vof
TCP
V o f pose
V o f ex
% sp ee d
-
136 -
H
DATA
In put the d es ire d speed d a ta by using
ODO
ODD
ODO
ODD
Back space '
[ZU
D A T A keys or soft keys.
[ZU
The speed setting range may differ in manipulator.
When the speed data are corrected b y
% speed
soft key, the setting range is limited by max/min
speed of the manipulator.
Depress
Depress L
• W h e r e th e co rrec tio n is continued
|
Skip
j-pTj
ENTER
key.
Skip
Alter
ŒH
ŒH
soft key.
I
'• Speed d a t a of step on the c u r s o r is^
not changed.
E All.gI_Z] ; Speed d a t a of step on the c u r s o r is
®
changed.
L IN E
STEP
IN S T R U C T IO N
0000
000
N O P
0001
001
M O V J
VJ — 50.0
0002
002
M O V L
V
0003
003
M O V J
V J = 50.0
0004
004
M O V L V =250.0
1 . The cursor moves to the next object step of
= 2 7 0 . 0
correct at every
Skip
or
Alter
soft key depression.
2 . The cursor skips the different kind speed
E x it
<3
:;W f
F2
F3
S k ip
F4
W h e re th e c o rre c tio n is ended !
specification.
A lte
0
W 0
Exit
Depress
! F5 i
[Z Z j
-
Exit
137 -
soft key.
I
5. 5. 3
Speed Correction by TRT Operation at TEACH Mode
E xecute speed c o rre c tio n by T R T o p e ra tio n at T E A C H mode so th a t the m a n ip u la to r is moved at newly
set tra v e l time in ac co rd an c e w ith m e a su rin g tr a v e l time in playback.
(Description)
■ (O peration on O p e r a t o r ’s P a n e l ) '
• M e a su r in g of c u r r e n t tr a v e l tim e
D
Move th e m a n ip u la to r to the ste p to be
measured.
Depress
DISP
Depress
Job
key
DtSP
1 'O S IT IO N . 1 5PO IN T S R H M A N S
No
JO B N A M E P O S IT IO N S PR(X>
00001
TEST
00002
123
K S P O IS T s
soft key.
D A TH T I M E P l.O T K C T SAYK
12 (
9
1 0 0 0 0 /0 0 /0 0
0 0 :0 0
239 '
6
> 0 0 0 0 /0 0 /0 0
OO'.OO
==>
Jo b
P o s itio n
File
D ia g n o s is
S T AC K DISP
■
---------------------------------------------------------------------------------------------------------------------------
F4
F3
F l j [ F2
<3
F5
t>
0
Depress
| pla y ]
PLAY
key.
The playback display appears.
Depress either
| l CYCI J=j|
m
o r
1 CYCLE
or
STEP
key
[S T E P I
Play back th e m a n ip u la to r in the in te rv a l
START
to be m easured.
Move the manipulator to the measuring end position.
0009
004
M O V L
V =
D u rin g playback, the tr a v e l tim e is dis-
5 0 0 .0
< T R T : M E A S U R IN G S T A R T -S T E P N o.0 0 2 E N D S T E F N o.0.07 13.100 Sec
J s p e e ö ad] I
< ]
[ FI j
i C ond ad) j
j F2 j
jSlow speed
I F3 I
I
palyed in p la y b ac k display.
-Travel
time
Cteck
[ F4 [
[ F5 | [ >
-
138 -
If the d isplay is o th e r th a n p la y b a c k d i s
play, th e tr a v e l tim e is not shown.
Speed c o rre c tio n by re s e ttin g tr a v e l time
Depress
PLAY
key.
|p l a y ]
m
Depress ^
— s oft key.
ŒH
TR T
I
D e p r e ss— ppyj
'soft key.
The soft keys for numerical value input
will appear.
In p u t
Î0
DATA
O
d e s ire d
tr a v e l
by
u sin g
DATA
key s or soft keys.
f l f lŒ
ODD
ODD
BUB
Back spase
ŒH
ŒU
m
D e p r e ss
ENTER
key.
T h e speed d a ta for each ste p h as c o rre c te d a c co rd in g to the set tr a v e l time betw een m e a su rin g -sta rt step
No. and m easu rin g-end ste p No.
____
m
T r a v e l time
* T R T s e ttin g speed = T r a v e l speed X — § et
—
If you m ake a m istak e on the input, begin again from ED
8 M < For step omitted the speed or step with only speed instruction, speed data correction cannot be
executed.
-
139 -
SECTION
6
MANIPULATOR MOTION (COORDINATES)
This section describes manipulator motion on various
coordinate system in TEACH mode and TCP fixed/
Manipulator
motion is changed
in various
coordinates.
change function.
<Coordinate system>
• Link
• Rectangular/Cylindrical
• Tool/U ser
C O N T E N T S
6
6.
6.
6.
6 .
6 .
6.
1
2
3
4
5
6
PAGE
M A N I P U L A T O R M O T I O N ( C O O R D I N A T E S ) - - •• 1 4 1
C O O R D I N A T E S S E L E C T I O N ................................... 1 4 2
M O TIO N SPE E D S P E C IFIC A TIO N
( T E A C H P E N D A N T ) ................................................. 1 4 2
A X I S O P E R A T I O N ...................................................... 1 4 3
E X T E R N A L A X E S S W I T C H I N G ........................... 1 4 3
L I N K C O O R D I N A T E S Y S T E M .............................. 1 4 4
R E C T A N G U L A R /C Y L IN D R IC A L
C O O R D I N A T E S Y S T E M M O T I O N ........................ 1 4 5
6. 6. 1
6. 6. 2
6. 6. 3
R e c t a n g u l a r / C y l i n d r i c a l Coor di nat e Systems Selection •• 145
R e c ta ng u l ar Coor di nat e System Motion .................................... 146
C yl i nd r i ca l Coor di nat e System M o t i o n .........................................147
6.
7
T O O L / U S E R C O O R D I N A T E S Y S T E M M O T I O N ........ 1 4 8
6. 7. 1
6. 7. 2
6. 7. 3
Selecting T o o l / U s e r C oor di nat e N u m b e r .................................... 148
Tool Coor di nat e S y s t e m ...................................................................... 149
User Coor di nat e S y s t e m ...................................................................... 150
6.
6.
T C P F I X E D F U N C T I O N ........................................... 151
T C P C H A N G E F U N C T I O N ..................................... 1 5 3
8
9
-
141 -
6. 1
C O O R D I N A T E S S E L E C T IO N
Manipulator motion by using teach pendant varies according to the coordinate system selected
depressing
| coonD|
Select it by
key until desired lamp of coordinate system is lit.
COORDINATE
6. 2
SYSTEM
'
LAMP
/
M O T IO N S P E E D S P E C IF IC A T I O N
4 - stages of motion speed are selected by depressing
(T E A C H P E N D A N T )
key.
Plus, one motion speed for higher speed motion can be selected by depressing
h'gh
key
MAN SPD lamps*
* Shifted down evey time
I “po
HIGHER SPEED MOTION KEY
k ey is
depressed as fo llo w s :
This key is effective while it is depressed,
but ineffective during inching even if it
is depressed.
MED
FST
MED
SLW
(Three lamps are lit.)
Inching operation
-
142 -
6. 3
A X IS O P E R A T IO N
M a n ip u la to r o p e ra te s in T EAC H mode only w hile the axis o pera tion key is depressed.
M a n ip u la to r m otion v a r ie s acco rd in g to the coo rd in a te system selected.
The external axes can also be operated by the same axis operation keys while
EXT
AXES
key is lit.
Be careful operating manipulator axes.
Be sure to light.
- T 7 T -
ENABLE
-+ + + + + + -
COORD
>
MAN SPD
QpJOUT □ fst □~jc«ni
AXIS
OPERATION
KEYS
6. 4
Depress
E X T E R N A L A X E S S W IT C H IN G
EXT
AXES
key on teach pendant to select the external axes operation.
depressed, the key lamp is changed ON or OFF.
Each time this key is
While selecting the external axes, the lamp is lit.
Be sure it is lit.
>
D e p re ss EN ABLE key.
0
1/ /
ENABLE
ENABLE lamp is lit.
O
EXT
AXES
D e p r e ss E X T AXES key
to light th is key lamp.
O p e ra te e x te rn a l axes
by usin g these keys.
-
143 -
I
6. 5
L IN K C O O R D IN A T E S Y S T E M
If a link co o rd in a te is selected, each axis of the m a n ip u la to r o p e r a te s in dependently.
In the link c o o r
din a te motion, d e p r e s s in g more th a n tw o key s r e s u lts in the m ix tu re of motion c o rre s p o n d in g to the keys
d epressed.
None of the ax e s o p e ra te w hen tw o direc tio n key s in one axis a re d e p r e s s e d sim ultaneously, (e. g. )
T a b le 6. 1 Axis O peration Key and Motion on Link C oordinate System
Axis Operation Key
Main
Axes
Wrist
Axes
Axis Name
Motion
'0 0
S —axis
Rotates to right and left.
'G 3 0
3E J @
O S
L —axis
Moves forward and backward.
U —axis
Moves up and down.
R —axis
Rolls to right and left.
Fvis
*
kyJJ
B —axis
Bends up and down.
T —axis
Turns to right and left.
es
0 0 6
Fig. 6. 1 O peratio n Axes During L IN K C o o rd in ate
The moving direction of U - axis is different from that of the previous system (YASNAC —RB. RG, RX).
144
6 . 6 R E C T A N G U L A R / C Y L I N D R I C A L C O O R D I N A T E S Y S T E M M O T IO N
6. 6. 1 Rectangular/Cylindrical Coordinate System Selection
Select th e r e c ta n g u la r o r cy lin d rica l coo rd in a te system as follows.
T h e cylindrical c o o rd in a tes have
been p r e s e t at th e factory.
"(O p e ra tio n on O p e r a t o r ’s P a n e l ) '
D e p re ss TE A C H key.
B
= =
• S e t r e q u ir e d fu n c tio n .
D e p re ss
n
1-
n
n
F4
0
key.
F5
> Set required function.
D e p r e ss '—f^ ndil|on—j
F5
m
t>
□
CU RSO R
/.
W hen | F3 [ is depressed
Condition
. V
ON
1 R E C T :O N C Y L: O F F
OFF
d isp la y
for
te ac h in g
will
appear.
■
Select coo rd in a te sy stem by u sin g c u r s o r
keys.
ON
Exi t
OFF
0 _ 0 _ 0 ®
.E ,0 |l
m
D ep ress
Ex i t
soft key
F5
to complete th is operation.
@
0
0
0
0
0
1
-
145 -
I
6. 6. 2 Rectangular Coordinate System Motion
T h e r e c ta n g u la r coo rd in a te sy stem is defined as th r e e dim ensional ( X- , Y- , Z - axis) coo rd in a te axes,
as show n in Fig. 6. 2.
In th is case, th e m a n ip u la to r a lw a y s moves p arallel to X- , Y -
and Z - axis.
D e p r e ss in g more th a n tw o keys r e s u lts in the m ix tu re of motions c o r r e s p o n d in g to the keys d e
presse d.
None of the axes o p era te while keys in tw o d ire c tio n s a re d e p re s s e d sim u ltaneously, (e. g. )
T ab le 6. 2 Axis O peration Key and Motion on R ectangular Coordinate System
Axis Operation Key
Main
Axes
Wrist
Axes
Axis Name
Motion
’B E )
X- axis
Moves parallel to X axis
20 ®
3H I
Y- axis
Moves parallel to Y axis
Z- axis
Moves parallel to Z axis
TCP control motion is executed.
The details of this motion are described in par. 6. 8.
Y -A X IS
Fig. 6. 2 M otion on Rectangular C o o rd in ate System
-
146 -
6. 6. 3 Cylindrical Coordinate System Motion
T he c ylindrica l coo rd in a te system is special coo rd in a te only d u r in g axis op era tio n and th a t is p r e p a re d
to match
se n sitiv e ly
w ith
m a n ip u la to r m echanism
and operation.
T h is
is defined
as cylind rical
th ree -dim ensio nal c o o rd in a te axes, as show n in Fig. 6. 3.
In th is case, 6 , r and Z axes move as follows.
T a b le 6. 3 Axis O peration Key and Motion on Cylindrical C oordinate System
Axis Operation Key
Axis Name
Rolls around S axis.
/T he same motion as link
Vcoordinate system motion.
S-
Main
Axes
L-
u-
Wrist
Axes
Moves perpendicular Z axis.
(Moves parallel to L axis.)
Y-
2-
Motion
Z axis
TCP control motion is executed.
Moves parallel to Z axis.
/The same motion as rectangular
Vcoordinate system motion.
Fig.6. 3 M otion on Cylindrical C o o rd in ate System
-
147 -
I
6 . 7 T O O L / U S E R C O O R D I N A T E S Y S T E M M O T IO N
6. 7. 1 Selecting Tool/User Coordinate Number
W hile
key lamp is lit, up to 8 co o rd in a te s can be selected in tool and u se r coo rd in a tes
respectively .
T h e se co o rd in a te s should be re g iste re d in coo rd in a te file in advance.
F o r details, refer
to par. A 4 in appendix.
■{Operation on T ea ch P endant)*
D e p r e ss
COORD
key
D epress
TOOL
key.
B
Tool c o o rd in a te selection
T
0
0
L
T he la test specified coo rd in a te No. is d i s
played.
1
User c o o rd in a te selection
F
R A M E
HON
1
1
—
or
ITgHM
OFF
Select
the
+
0 N
or
This function is optional.
For details of user coordinates, contact your Yaskawa representative.
-
148 -
coo rd in a te No.
_
key.
OFF
by
using
6. 7. 2 Tool Coordinate System
T he tool co o rd in a te s a re defined at th e tip of the tool, assu m in g th a t effective direction of tool mounted
on the m a n ip u la to r w r i s t flange is Z-axis.
T h erefo re, the tool-coordinate-axis direction moves together
w ith the w rist.
In tool coo rd in a te system motions, the m a n ip u la to r can be moved usin g the tool effective direction as a
referen c e r e g a r d le s s of th e m a n ip u la to r position or orientation.
T h e se motions a re b es t suited w hen the
m a n ip u la to r is r e q u ir e d to move parallel while m a inta ining the tool o rientation to w a r d w orkpieces.
X-AXIS
Fig. 6. 4. Tool Coordinate System
Table 6. 4. Axis Operation Key and Motion on Tool Coordinate System
Axis Operation Key
Motion
Axis Name
X-axis
Moves parallel to X-axis
Y -axis
Moves parallel to Y-axis
Z -axis
Moves parallel to Z-axis
Main
Axes
Wrist
Axes
'0 0
TCP control motion is set.
-
149 -
6. 7. 3 User Coordinate System
T h e c o o rd in a te sy stem for u s e r s will be defined so as to select objects o th e r th a n the m a n ip u la to r such
as w o rk p iec es an d fixtu res.
A m a x im u m of 8 kin d s of c o o r d in a te s (origins an d o rientation ) c a n be se t in
the u s e r coo rd in a te system.
In u se r c o o rd in a te motions, th e m a n ip u la to r moves p ara llel to each axis of th e designated u s e r c o o r
din a te system.
Table 6. 5. Axis Operation Key and Motion on User Coordinate System
Axis Operation Key
Main
’¡ m i
Axes
3Q 0
Wrist
Axes
TCP control motion is set.
Motion
Axis Name
X-axis
Moves parallel to X axis
Y-axis
Moves parallel to Y axis
Z-axis
Moves parallel to Z axis
Fig. 6. 7. User Coordinate System Motion
-
150 -
6 . 8 T C P F IX E D F U N C T IO N
T C P fixed function is possib le to change only w r i s t orien tatio n at a fixed T C P position in any c o o r d i
n a t e system. A s show n in Fig. 6. 8, only w rist o r ie n ta tio n is c h a n g ed w ith T C P @ m aintain ed.
T h is motion is p ossible by d e p r e s s in g w r i s t axis (
co ord inates.
W h e n main axis (
S-, L-
R-, B-
or T axis) in system oth e r than link
or U-axis) is d e p r e s s e d sim ultaneo usly with w ris t axis key,
only T C P control motion is available.
only T C P con tro l m o tio n is available. Fig. 6. 9 show s ax is r o ta r y m otio n w ith T C P m a in ta in e d in ea ch
c o o r d in a te system.
Table 6. 6 Axis Operation Key and Motion
Axis Operation Key
Main
'0 0
3BED
mm
Axes
Wrist
Motion
TCP shift
Turning around X-axis
Turning around Y-axis (TCP fixed)
Axes
KJ06
(a )
Turning around Z-axis
F o r usin g to r c h
(b)
F o r usin g gu n sp o t
Fig. 6. 8. TCP Control Motion
-
151 -
6. 8 TCP FIXED FUNCTION (Cont’d)
X-AXIS
Z-AXIS
(c)
U s e r C o o rd in a te System
Fig. 6. 9 Axis Rotary Motion with TCP Maintained
-
152 -
6 . 9 T C P C H A N G E F U N C T IO N
T C P change function is v e ry useful for following cases.
(1)
W h e r e multiple tool is attac hed on m a n ip u la to r w r i s t flang e an d T C P is changed for each tool.
Fig. 6 .1 0 T o p C hange for E ach Tool
(2)
W h e r e T C P is changed in a tool.
(a) M otion by T C P Pi
(b) M otion by T C P P 2
Fig. 6 . 11 T C P C han g e in a Tool
-
153 -
APPLIED
OPERATION
-
155 -
SECTION
7
APPLIED OPERATION SEQUENCE
This s e c tio n d e s c rib e s th e a p p lie d o p e ra tio n flo w c h a rt
f o r t h e c o n t r o l l e r in o r d e r t o
C O N T E N T S
7
7.
1
PAGE
A P P L I E D O P E R A T I O N S E Q U E N C E ................. 1 5 7
A P P L I E D O P E R A T I O N F L O W C H A R T .............. 1 5 8
-
157 -
7. 1 APPLIED OPERATION FLOWCHART
Basic operation flowchart
Job edit
on operator’s panel
Par. 8 . 1
Par. 8
' Setting and release of edit lock ......
’ Calling up job display .......................
’ Search (calling) operation...................
’ Job header edit ....................................
’ Registration and edit of instruction
’ Work condition function...................
' Work data file ....................................
1User variable........................................
•
•
•
•
•
•
•
•
Par
8.
8.
8.
8.
8.
8.
8.
8.
1
1
1
1
1
1
1
1
1
2
3
4
5
6
7
8
Editing job
on teach pendant
Par.
Edit instruction •••
Tim er instruction
2
Data storage
on floppy disk
Par. 9
•
•
•
•
•
•
Precautions ....................................
File name inside floppy disk......
Stored data and processing list •
Connection to floppy disk unit
Preparation of floppy disk unit ••
Operation of floppy disk unit ......
9. 1
9. 2
9. 3
• Checking tr a n s m i s s i o n sta tu s —
Diagnosis
operation
Par. 10
Appendix
’ Operating time d is p la y ....................
' Moving time d isp la y ........................
1Input status display ...........................
' Output status display .......................
Direct-in status display ...................
Servo display........................................
Position display at power ON/OFF
Alarm history display .......................
Position diagnosis display ..............
Robot language "INFORM” .....................................
Error message ..........................................................
Example of instruction using .................................
Tool constant calibration function ........................
User coordinate function ......................................
Setting cube interference a r e a ............................
Alarm disposition during operation ....................
Additional operation of manipulator model V - Comparison of YASNAC ERC and YASNAC RX
Soft key tree ..............................................................
-
158 -
.
;. 2.
10 . 1
10. 2
10. 3
10. 4
10. 5
10 . 6
10. 7
10. 8
10. 9
A 1
A 2
A 3
A 4
A 5
A 6
A 7
A 8
A 9
A 10
SECTION
8
JOB EDIT
This section describes the basic operation of data
editing on the
operator’s panel and teach pendant.
CONTENTS
PAGE
PAGE
190
159
Altering In s tru ctio n .................................
Deleting In s tru c tio n ................................. 192
Correcting L in e ......................................... 193
O
O 00
J OB E D I T .......................................
1
BASIC OPERATION FLOWCHART
160
8.
. 1
Setting and Release of Edit Lock •
161
8.
. 1. 1
Edit Lock Key(O ptional) ................
161
Editing for M O VE In s tru ctio n .............. 197
8.
. 1. 2
Edit Protect of Each J o b ................
161
Work Condition Function......................... 197
8.
. 2
C a l l i n g up J o b D i s p l a y ................................164
8.
. 2. 1
J o b H e a d e r D i s p l a y ....................................
165
Work Data F ile s ......................................... 201
8.
. 2. 2
J o b T e x t ( l n s t r u c t i o n ) D i s p l a y ...............
166
Selecting Condition File D is p la y .......... 201
8.
. 2. 3
C o m m a n d P o s itio n D i s p l a y ...................
168
Registering and Correcting
8.
. 2. 4
J o b L i s t 1 ( J o b R e g is t e r in g O r d e r ) ■• • • 169
8.
. 2. 5
J o b L i s t 2 ( S o r t ) ............................................
8.
. 3
S e a r c h ( C a l l i n g u p ) O p e r a t i o n ................... 171
Creation (Registration) of Work Condition - ■198
8
Condition F il e ............................................. 203
170
User V a r ia b le .............................................
8 .
8.
204
8. 1
Calling up of User V ariab le Display • • 205
8. 2
Data Setting of V ariable (Byte, integer,
8.
. 3. 1
J o b S e a r c h ......................................................... 172
8.
. 3. 2
Step Search .....................................................
8.
. 3. 3
L a b e l S e a r c h ..................................................... 175
8.
. 3. 4
L in e No. S e a r c h ............................................
8.
. 3. 5
Instruction S e a rc h .......................................177
8.
. 4
J o b H e a d e r E d i t .............................................179
8.
. 4.
8.
. 4. 2
A t t r i b u t e ( E d i t P r o t e c t ) S e t t i n g ............... 182
8.
. 4. 3
Job Copy .....................................................
8.
. 4. 4
J o b D e l e t i o n ..................................................... 185
8. 2.
1
Edit Instruction on Teach Pendant • • • ■ 218
8.
. 5
R e g i s t r a t i o n a n d E d i t of I n s t r u c t i o n
8. 2.
1.
Tim er Instruction ..................................... 219
8.
. 5
double-integer and real typ es )..............206
g
8. 3
Data Setting of V ariable
8.
8. 4
Confirmation of Position Registered in
8.
8. 5
176
(Position ty p e )......................................... 207
Position V a r ia b le .....................................
1 J o b R e n a m e ..................................................... 180
1
8.
174
183
186
Position V a r ia b le ..................................... 215
8.
I n s e r t i n g I n s t r u c t i o n .................................... 189
-
213
Deletion of Data Registered in
159 -
2
EDITING JOB ON TEACH P E N D A N T -217
0
8. 1 BASIC OPERATION FLOWCHART ON OPERATOR’S PANEL
f—
“N
D epress
OP1
)
\
D ep ress
EDIT
key.
V
v :
Specify edit d a ta or p ro c e ssin g items by usin g keys below.
CURSOR
F1
D O
□
to
F5
□
\7
Specify alteration, a d dition or deletion as necessary.
(Each soft key is displayed.)
In p u t digits or c h a r a c t e r s as n ecessary.
(Displayed soft k e y labels for th e ir input.)
D ep ress
-
ENTER
160 -
key.
key.
8. 1. 1 Setting and Release of Edit Lock
EDIT LOCK c a n be se t to p rev e n t ta u g h t jo b s (w o r k in g p rogram s) and d a ta from b e in g c h a n g ed b y m ista k e.
8. 1. 1. 1
EDIT LOCK Key (Optional)
An E D IT LOCK sw itch w ith a key is p rov ided inside the sub p a n el of the o p e r a to r's panel.
be rem ov ed if the sw itch is set to the EDIT LOCK ON position.
T he key can
All editing o p era tio n s by the o p e r a t o r ’s
panel and by the teach p e n d a n t a re protected d u r in g EDIT LOCK.
Selection of the CRT d isplay and floppy disk o p era tion can be continued even d u r in g EDIT LOCK.
T h is sw itc h can be installed as an option upon request.
INTERNAL AUX. PANEL
While EDIT LOCK is turned on. all editing is disabled.
8. 1. 1. 2
Edit Protect of Each job
ED IT LOCK se ttin g can be r e g iste r e d w ith each job as a t tr ib u te s .
T h e se ttin g condition can be checked on the h e a d e r d isp lay of each job. (Fig. 8 . 1 ) .
a re also possible th r o u g h the h e a d e r d isp lay by using
See par. 8. 5. 2 fo r details.
j
ON
or
of f ]
!■ F3
so ft key.
CKj
(JOB H E A D E R )
JOB NAME : SAM PLE
7
T O T A L LINES
PRO G-D A TE : 1989/04/02 15: 00
USED MEMORY
T O TA L STEPS
CURSOR
EDITPROTECT
<ON>
= = > Set ON o r OFF.
ON
El
F3J
F2
OFF
F5
t>
1 . While EDIT LOCK is turned on, the setting cannot be performed.
^
2 . When EDIT LOCK is set, job deletion is protected.
Fig. 8 . 1
Edit Lock of Each Job
-
161 -
T h e settings
Even if the job is set at E D IT pro hibit, execute the following op era tio n to c o r r e c t only the position.
T h e deletion and a d dition can not be executed.
■(Operation on O p e r a t o r ’s Panel) '
(D escription )
o
D ep ress
D e p re ss
key.
TEA CH
0
key
=> S et re q u irin g function.
i ^ f T T O f ^ n i F4 ii Fs p g i
D ep ress
Co n d i ti o n
;
soft key.
F5
= => Set re q u irin g function.
Condition
T he teach condition d isp la y will appe ar.
SET
TEACH CONDITIONS
ON
1 RECT : O N - S Y L -.OFF
O FF
■
2 SPEED CHG. C O N D ITIO N S: O N -S IN G L E : O FF
■
3 MASTER JOB CHG. DISA BLE.O N -EN A BLEIO FF
■
4 Edit S T E P DATA ENA BLE : O N -D ISA BLE:O FF ■
M
(in the Edit P rotected JOB)
5 Record the S T E P A FTE R L IN E :O N -S T E P : OFF
ON
OFF
Exit
Set the c u r s o r to th e line of “ 4
Q o o
□ B
E d it S T E P
D A T A EN ABLE : ON —D ISABLE : O F F " by u s
ing c u r s o r keys.
-
162 -
m
W hen
SET
TEACH CON DIT ION S
01
1 REC T : O N - SY L : O F F
selecting a lte ra tio n
press
■
2 S P E E D C H G C O N D IT IO N S : O N -S IN G L E : O F F
ON
only
step, de-
soft key.
F3
3 MASTEK JO BC H G . DISABLE O N -E N A B L E :O F F
4 E d it S T E P D A T A E N A B L E : O N -D IS A B L E :O F F ■
W h e n selecting a lteratio n p roh ibit, d e p r e s s
( m th e E d it P ro te c te d JO B )
5 R e co rd th e S T E P A F T E R LI N E . O N -S T E P : O F F
OFF
]1
ON
soft kev.
F4
H
— For alteration prohibit
For alteration only step
D ep ress
E xit
soft key after com pleting
F5
Exit
<
F1
F2
F3
F4
F5
selection.
t>
1 . W h e n the control po w er is tu r n e d on, a lteratio n p r o h ib it (OFF) is alw a y s set.
2 .
W h e n e v e r the control po w er is tu r n e d off,
the s e ttin g above is ineffective.
T h erefo re, w hen the a lteratio n only step is re q u ire d , set the se ttin g to ON
again.
-
163 -
I
8. 1. 2
Calling up job Display
F ir s t, the method
of calling up job to be edited on the d isp lay is described.
T h e following menu
d isp lay is available for the job display group.
D isplay Items
Job D isplay (Group)
Job H eader
Job T e x t
Command Position
Job List 1
(Job R e giste ring O rder)
P ro g ra m in g date, used memory, a ttr ib u te s
Registered in stru c tio n s
T a u g h t position d ata
Jobs in r e g istra tio n sequence
(Used for job search)
Job List 2 (Sort)
Jo b in c h a r a c t e r so rt sequence
E ach d isp lay can be called up as follows :
(Description)
Depress
Depress
DISP
Job
"TT
key
key.
If the edit job is registered, Job T e x t display
will app ear.
D e p re ss
L^ !P.ch9J
so ft k ey
D e p re ss d e s ire d soft key, and the desig n ated
d isp lay a p p e ars.
-
164 -
I
8. 1. 2. 1 Job Header Display
(Description)
Call up soft key labels shown in
Depress
soft
header display will appear.
o
Job H ea d er D isplay
A C T V JOB
EDIT-JOB : SAMPLE- 7 L : 0001 S : 000-^,
JOB NAME : S A M P L E - 7 PRO G -D A TE ! 1989/04/02 15 :00
T O T A L LINES
USED MEMORY
T O T A L STE P S
ED IT P R O T E C T
(O N )
= =>
ON I
-
I OFF I
165 -
£
Displaying job
B.
key.
Job
I
8. 1. 2. 1 Job Header Display (Cont' d)
T h e item and m eaning on JOB HEADER d isplay (universa l d isplay area) is as follows.
Meaning
D isplay Item
Job N A M E *
D isp la ying job name.
on this display.
PROG D A T E
Date and time of la test edit of th is job are d i s
played.
T O T A L LINE
T otal in s t ru c tio n s re g iste re d in th is job is d i s
played.
TOTAL STEP
Total move in stru c tio n s reg istered in this job is
displayed.
USED MEMORY
Capacity of the memory registered in this job is
displayed.
ED IT P R O T E C T *
Job nam e can be changed
E dit pro tec t s ta tu s of this job is displayed.
‘T h e co n ten ts of the se ttin g can be changed acco rd in g to the edit operation.
8. 1. 2. 2
Job Text (Instruction) Display
(Description)
( O p e ra tio n on O p e r a t o r ’s P a n e l ) '
Disp chg
DfSP
[H A
Call up soft key labels shown in B .
b
=
- >
Depress L-J°b *^Ll
Select dispiay.
Job Header
J o b text
C o m d pos
J o b list 1
soft key.
J o b list 2
Job te x t (instruction) d isp lay will app ear.
<3
F1
F2_
F3
F4
F5
f>
o
-
166 -
Job T e x t Display
■Instruction address
A C T V -J O B
E D IT -JO B :S A M P L E INSTRUCTION
STEP
0123
100
MO V J
0124
101
M O V L V = 123
0127
o
♦—*
H
DOUT
102
O
0125
0126
V J = 5 0 .0
II
LINE
f T h e c u rso r show s the instruction
[corre sp o n d in g to this line No.
✓MOVL V = 560— '
/
CURSOR
WAIT
' Instruction to be edited
IN # 0 1 = 0
= = >
D is p c h g
LINE No. and S T E P No. in JOB T E X T (instruction) d isp lay a re nam ed INSTRUCTION ADDRESS.
T h is
in stru c tio n address can be selected by operating the cursor key.
Moves the c u r s o r u p p e r w a r d .
T h e in stru c tio n a d d r e s s also chan ges sim ulta n eo u sly to the m atching a d d r e s s No.
D
Moves the c u r s o r d o w n w ard .
T h e in stru c tio n a d d r e s s also chang es sim u lta n eo u sly to the m atching a d d r e s s No.
W h e n the c u r s o r moves to the ce n te r of the display, the c u r s o r stops and the in
s tr u c tio n a d d r e s s e s a re scrolled up to the n ex t h ighe r place by one.
□
Not used.
-
167 -
I
8. 1. 2. 3 Command Position Display
(D e sc rip tio n )
Call up soft key labels shown in B .
IComp pos;
D epress
soft key.
C om m and p o sitio n d isp la y w ill ap p e ar.
C om m and P o sitio n D isplay
ACTY-JOB
EDIT-JOB:SAMPLE-/ <Ucii>126j3j_K)2
C om d pos
STEP: 102
The
COORD: LINER SPEED: 500 mm/s TOOL No. 0
(COMMAND POSITION)
command
position
(CURRENT POSITION]
S 12345
S
1 2 34 5
L
1 2 34 5
L
12345
U
1 2 34 5
U
12345
R
12345
R
12345
ipulator
B
12345
B
12345
taneously.
N
The current position of the man
also
displayed
= =>
Page ‘
Page *
Disp c h g
Search
1 . While the command position is displayed, the cursor on the display doesn't appear.
2.
[
edtT
(taught
position) of this Step No. is shown.
key does not respond.
-
168 -
simul
8. 1. 2. 4 Job List 1 (Job Registering Order)
(O p e ra tio n on O p e ra to r's P a n e l ) 1
Job
Disp chgj
!
F3
□ ra
Call up so ft key lab els show n in
I Job lis t 1
= >
D epress
Select display.
C o m a pos
J o D header
Jo b
1
re g iste rin g
soft key.
o rd e r
d isp lay
w ill
ap p e ar.
o
F1
F3
F2
F4_
—o
>
F5
o
Job L ist 1 (Job re g is te rin g o rd e r d isp lay )
These marks mean there is no EDIT JOB.
J.__________
r
ACTV-JOB:
EDIT-JOB ; * * * * * * *
No.
JOB NAME
* L :0 0 0 0 S :000
PROG. DATE/TIME SAVE
00001
00002
CURSO R'
SAMPLE-1
SAMPLE-2
- 0 0 0 0 3 SAMPLE-4
00004 SAMPLE-5
T h e page is ch an g ed by u sin g
th e se k ey s,
>
*
*
Page *
Page ;
w hen th e c u r s o r is
on th e lo w est line o r h ig h e st line,
Disp c h g
th e
Search
page
t
is
ch an g ed
by
or
I
key.
u sin g
(D isp la y D e sc rip tio n )
JOB NAM E 1 Displays in the order registered to the controller memory.
PROG. D A T E /T IM E
S how s final ed itin g .
iste re d
T h e re fo re , th e se is no tim e c o rre la tio n b etw een th e r e g
o rd e r an d p ro g ram m ed d a te /tim e .
H ow ever, th ey w ill be u sefu l in
kn o w in g th e h is to ry of each job.
P R O T E C T i S how s th e s e ttin g s ta tu s of p ro te c tio n of each job.
tin g job.
ON is d isp la y e d for p ro te c tio n of s e t
P erfo rm th e s e ttin g in each jo b h e a d e r d isp lay , r e fe rrin g to p a r. 8 . 1 . 4 . 2 .
If the job text is faulty, the displayed job name blinks.
The blinking job cannot be used.
-
169 -
8. 1. 2. 5
Job List 2 (Sort)
Call up soft key labels shown in
F5
soft key.
T h e follow ing d isp la y w ill a p p e a r.
O
Job L ist 2 (Sort)
These marks mean there is no EDIT JOB.
JOB LIST
ACTV-JOB: :
'
EDIT-JOB:* * * * * * *
* L :0 0 0 0 S :0 0
123
124
125
126
127
128
A BC-001
A B C -002
A B C -003
A B C -004
A B C -005
A B C -006
S A M P L E -1 S A M P L E -2 S A M P L E
Page Î
S A M P L E -4 S A M P L E -5 S A M P L E -6
Page i
Disp c h g
Search
T h is d isp lay sh o w s re g iste r jo b n a m e s in th e c h a r a c te r s o rt (code) o rd er. U se th is d isp lay to ch eck
re g iste re d jo b nam es. E d itin g is n o t possib le th ro u g h th is display.
If the job text is faulty, the displayed job name blinks.
The blinking job cannot be used.
-
170 -
8.1.3
Search (Calling up) Operation
S earch o p e ra tio n ca lls up d ire c tly d isp la y s of re g iste re d jo b s o r d e s ire d ste p s in th e jobs.
k ey s for th e se a rc h o p e ra tio n a p p e a r in v a rio u s o p e ra tio n step s.
T h e soft
H ere, th e basic m ethods are d escrib ed .
No operation in PLAY mode.
■ (O peration on O p e r a to r ’s P anel)*
(D e sc rip tio n )
DtSR I
D epress
~
-
<
>
Select
Job
j
F1
display.
Position
F2
D epress
File
F3
D i a g n osis
F4
DISP
Job
key.
s o ft k e y .
F1
| STACK DISP
FS
|
r>
--------
î
< f| |
F1
Page *
Di sp c h g
|| F2~|| F 3
The display below appears.
|| F 4 ||~FS
G
= > S elect item to be search ed .
Li n e
Step
Label
M a s t e r job
Job
J
T h e se a rc h o p e ra tio n in each o p e ra tio n ste p goes as follow s.
-
171 -
8. 1. 3. 1 Job Search
T h e m ethod of m a ste r jo b se a rc h in g is d iffe re n t from th a t of n o n -m aster job search in g .
E ach o p e ra tio n is d e sc rib e d below.
C all
(1)
up
th e follow ing soft k eys by d e p re ss in g
DISP
DISP
key
key,
jo b
J
and
Search
soft keys.
S earc h in g M a ster job :
D ep ress
M aster
job soft key.
T h e JOB T E X T d isp lay re g is te re d as m a ster job a p p e a rs on th e
display by one operation.
Master job
ACTVJOB :
-Ts------ »-ED IT JOB : M A S T E R
LINE:
STEP:
0000
000
L : 0000 S : 000
INSTRUCTION:
NOP
0001
C A L L JOB : S A M P L E -1 IF IN # 0 1 = 1
0002
C A LL JOB : S A M P L E -2 IF IN # 0 2 = 1
0003
C A LL JOB : S A M P L E -3 IF IN # 0 3 = 1
0004
C A LL JOB : S A M P L E -4 IF I N # 0 4 = 1
0005
END
= =>
Page i
Disp c h g
JOB T E X T D isp lay (M aster Job)
-
172 -
(2)
S earc h in g th e job (except m a ste r job)
D ep ress
key, JOB LIST 1 (job re g iste rin g o rd e r) d isp lay a p p e a rs.
Job
D esig n ate the
desired job by cursor.
(D e sc rip tio n )
■ (O peration on O p e ra to r’s P a n e l)'
Job
UFc
D epress
Job
soft key.
F5
o
Job L ist 1 ap p e ars.
CURSOR -
No.
JO B N A M E
00001
T E S T JO B
00002
SA M P L E 1
00003
SAM PLE2
Page ;
:i Page
Job L ist 1
0
o
P lace th e c u rs o r to d e s ire d job by u sin g
CURSOR keys.
0
D ep ress
ENTER
key.
<
ACTVJOB :
-EDIT JOB : S A M P L E 1 L :0000 S:000
SEARCHED----JOB
LINE
STEP INSTRUCTION
0000
000
NOP
0001
001
MOVL
V = 123
D O UT
O T#01 = 1
0002
0003
0004
002
MOVL
V =560
W A IT
IN # 01=0
= =>
Page 1
Job T e x t D isp lay
Disp c h g
J
~ 173 -
Designated job calls up.
I
8.1.3. 2
Step Search
■' ■■
(D e sc rip tio n )
(O p e ra tio n on O p e ra to r’s P a n e l)'
^
DtSP
|
Job
|
js
| Search
O
Call up th e d isp la y show n at th e right.
[f| J .
o
= = > S elect item to search.
Step
M a s t e r |0b
i------------------------------------------------------------------------------- Jj
F3
F5
F4
>
Step
D ep ress
F2
B B
B
O
B
O
O
D
O
D
D
D
D
D
soft key.
In p u t d e s ire d ste p No. by u sin g D A TA
keys.
If you m ake a m istak e on th e in p u t No.,
c o rre c t it by u sin g so ft key lab els for
d ig it input.
= = > E n te r step n u m b e r to search .
-102
INPUT No.
B ack space
Q
D ep ress
ENTER
key.
T h e sp ecified ste p ca lls up.
ACTV JOB:
EDIT JOB : S A M P L E -li L : 0126 S : 102
STEP:
INSTRU CTIO N:
0123
100
M O V J V J = 5 0 .0
0124
101
M O V L V = 123
LINE:
0125
0126
0127
102
Line and step Nos. show Nos.
to be searched.
D O UT O T # 0 1 = 1
Cursor shows step to be
M OVL V =560 ^
searched.
W A IT IN # 0 1 = 0
-
174 -
I
8. 1. 3. 3 Label Search
■ (O p e ra tio n on O p e ra to r’s P a n e l ) 1
Job
.
(D e sc rip tio n )
Search
C> n
C all up th e d isp la y sh o w n at th e rig h t.
O
j
D e p re ss
Label
[~ ^ n
|
so ^ k eY-
?-
s q
O B
ood
In p u t d e sire d label No. by u sin g D A TA
ODD
DOB
D
keys.
U se so ft key la b e ls to c o rre c t in p u t label
No.
□
D epress
ENTER
key
The specified label calls up.
-
175 -
8. 1. 3. 4 Line No. Search
■{O peration on O p e ra to r’s P anel)*
Job
rasp
C>
I Search (
Call up th e d isp lay sh o w n at th e rig h t.
F1
= = > S elect item to search.
Line
Step
Label
M a s t e r job
j0d
u------------------------------------------------------------------------------- if
<3
F1
F2
F3
F5
F4
F1
o
D ep ress
Line
so ft key.
S D Q B
ODD
ODD
BOD
In p u t d e sire d line No. by u sin g D A TA
keys.
U se soft key lab els to c o rre c t in p u t line
No.
B
0
D epress
ENTER
key.
T he specified line calls up.
-
176 -
I
8.
1.
3.
5
Instruction Search
(D e scrip tio n )
•(O p eratio n on O p e ra to r’s P a n e l ) 1
K
|DtSpl
!
K/
Job
k
I F1
C1 I
[ Search^
D ep ress
DISP
,
:
key
F5
T hen, d e p re ss
Job
;
D ep ress
[>
i
,
and
Search
^
s o it
,
keys.
F5
fi
key.
= = > Select item to be searched
Line
Step
Label
Master job
Job
<3 F1 F2 F3 F4 F5 >
------------------------ ----------------------
D ep ress
Inst
J so ft kev.
F1
Inst
Select so ft key to be se arch e d .
In /O u t
<
F1
Sequence
Device
S h ift
Same comd
F2
F3
F4
F5
o
0
D ep ress
ENTER
key
T h e sp ecified in s tru c tio n for th e c u r r e n t c u rs o r
s e ttin g line an d o n w ard w ill be d isp lay e d .
If th e sp e c ifie d in s tru c tio n is n o t fo u n d , e r r o r
2210 “ U n d e f in e d a d d r e s s to b e s e a r c h e d ” is
d isp lay ed .
-
177 -
•
In stru ctio n se a rc h in job ed it mode
In stru c tio n se a rc h can also be execu ted in job ed it mode.
(D escription )
D ep ress
D ep ress
EDIT
Search
and
[>
keys.
so ft key.
F3
D ep ress
Inst
so ft key.
F2
S elect so ft key to be se arch e d .
D ep ress
ENTER
key.
T h e sp ecified in s tru c tio n for th e c u r r e n t c u rs o r
s e ttin g line an d o n w a rd w ill be d isp lay e d .
-
178 -
8. 1. 4 Job Header Edit
T h e follow ing ed itin g o p e ra tio n s a re p o ssib le on JOB HEADER d isp lay .
(1)
R enam ing
(2)
S ettin g of ed it p ro tectio n .
(3)
Copy of job
(4)
D eletion of job
EDIT
key to call up th e soft key for editing.
Soft key la b e ls to specify th e ed it o p e ra tio n w ill ap p e ar.
D e p re ss d e s ire d so ft key labels.
T h e each e d it o p e ra tio n goes as follow s.
-
179 -
I
8. 1. 4. 1 Job Rename
■ (O peration on O p e r a to r ’s P a n e l) 1
(D e sc rip tio n )
D
EDIT
D ep ress
EDIT
key.
o
= > S ele ct e d it item .
Attribute
Rename
J o b copy
J o b delete
Disp c b g
j
<3 I I
F1
I I
F2
F3
F5
F4
>
Rename
D ep ress
Rename
F1
O
-
180 -
so ft key.
®
In p u t th e new job nam e by u sin g so ft key la b els
fo r c h a ra c te r input.
• P a rtia l c o rre c tio n
T h e o rig in a l nam e is d isp la y e d in th e in
p u t line b efo reh an d .
o
P erfo rm p a rtia l c o rre c tio n by u sin g so ft
key lab els fo r c h a r a c te r edit.
Backspace
Exit
Soft key L ab els for C h a ra c te r E d it
If
• No re q u ire d p a rtia l co rrec tio n .
p a rtia l
d e p re ss
c o rre c tio n
is
key
cancel
not
an d
needed,
in p u t th e
d e sire d c h a ra c te rs.
I
A fter ch a racter in p u t is com pleted, dep ress L
H [ Exir
Exit
F5
le^
soft key to re tu rn the previous display.
Job name cannot be registered on
c h a racter display.
D epress
ENTER
key.
T he job name is
changed to n ew nam e.
ACTVJOB :
EDIT JOB : S A M P L E -7
JOB NAME : SAMPLE-7
TOTAL LINES:
TOTAL STEPS:
L : 0001 S : 000
PROG.DATE : 1989/05/01 10: (
USED MEMORY :
<ON>
EDIT PROTECT
Attribute
Job copy
J o b delete
D is p c h g
1 . The following characteres cannot be for registration of job name.
(SPACE) ( ” ) ( * ) ( + ) (, ) (. ) ( / )
(< ) (= ) ( > ) ( ? )
([) ( ¥ ) (]) ( I )
J
-
181 -
( : ) ( ;)
S A M P L E -7
I
8. 1. 4. 2 Attribute (Edit Protect) Setting
-
182 -
1. 4. 3 Job Copy
( O p e ra tio n on O p e r a t o r ’s Panel)«
D
EDIT
Depress
F1 *
. F2
F3
EDIT
key.
F5
F4
Job copy
Job copy
F3
®
D epress
In p u t th e new job nam e by u sin g so ft key lab els
iB ira
fo r c h a r a c te r input.
F3
soft key.
Job name can also be input digit by
using DATE keys.
• P a rtia l c o rre c tio n
T h e o rig in a l nam e is d isp la y e d in th e in
p u t line b efo reh a n d .
P erfo rm p a rtia l c o rre c tio n by u sin g soft
Back space
Exit
key lab els for c h a ra c te r edit.
S oft key L ab els fo r C h a ra c te r E d it
If
• No re q u ire d p a r tia l c o rre c tio n
p a rtia l
d e p re ss
c o rre c tio n
CANCEL
d e sire d c h a ra c te rs .
EDIT JOB : SAMPLE-1 L :
SOURCE FOR COPY
S A M P L E -1
S:
ADDRESS
—
> * * * * * * * *
= = > E n te r n ew jo b nam e.
S A M P L E -1
Page
T
Copy D isp lay
-
1 83 -
Page
is
not
key an d
needed,
in p u t th e
I
□
I
A fter ch a racter input is co m p leted , dep ress I Exit
Exit
[ F5
soft key to re tu rn the previous display.
Job name cannot be registered on character display.
D epress
ENTER
key.
The job to be copied is registered.
D epress
Execute
soft key.
0
F5
T h e copy s ta rts .
In th is case, SA M PLE
1 is copied as SA M PLE 7 .
F2
F3
F4
F5
P
o
W h en th e copy is com pleted, th e new job
h e a d e r d isp la y a p p e a rs.
ACTVJOB :
-EDIT JOB : S A M P L E -7 L : 0001
S :000
JOB NAME : SAMPLE-7 PROG. DATE : 1989/05/01 10:
TOTAL LINES:
USED MEMORY :
TOTAL STEPS:
EDIT PROTECT
<ON>
= = > S elect e d it item .
Rename
Attribute
J ob copy
J o b delete
Disp chg
New Job H eader D isp lay |
s m
1 . The following characteres cannot be used for registration of job name.
(SPACE) ( ” ) ( * ) ( + ) (, ) (. ) ( / )
( : ) (;)
( < ) ( = ) ( > ) ( ? ) ([) ( ¥ ) (]) ( I )
J
-
184 -
1. 4. 4 Job Deletion
■ '
( O p e ra tio n on O p e r a t o r ’s Panel)*
EDIT
Depress
EDIT
key.
o
= = > S elect ed it item .
Rename
Attribute
J ob copy
job delete
JoD chg
-sJ
■
:Ä §
<3
F5
x>
Job delete
\J Ä
D epress ^ d-elele!
rrri
soft key.
D epress
L.^xecule I
F5
soft keys.
I
T he d isp lay in g job is deleted
and Job LIST
EO
F1
F2
F3
F4
F5
1 appears.
O
These marks appear because edit job is deleted.
A fte r jo b d eletio n , se a rc h o th e r
jo b s by u sin g so ft k e y s in th is
ACTV-JOB :
EDIT - JOB
L : 0000 S : 000
d isp lay .
T h e m ethod of se a rc h is d e sc rib e d
No.
JOB NAME PROG. DATE PROTECT
#0001
S A M P L E -1
#0002
S A M P L E -2
#0003
S A M P L E -4
#0 0 0 4
S A M P L E -5
in p a r.
8 . 1. 3.
-The job set edit protection cannot be
deleted.
= = > S ele ct e d it item .
Rename
J o b co p y
J o b delete
Search
Job L ist 1 a fte r D eletin g Job
_______________________ J
-
185 -
Disp c h g
8. 1. 5
Registration and Edit of Instruction
First, Call up soft key labels for edit.
“ (O p e ra tio n on O p e ra to r’s P a n e l)
..........
D epress
DtSP
d is p
key.
m
D epress
!— ^ — I soft key.
I F1 I
D epress
EDIT
key.
Soft key lab els for ed it is ten.
T h e re fo re ,
d e p re ss
key
to
d is
p lay m ore th a n five labels.
> Select edit item.
Delete
F1
<l
Line edit
F3
F2
F4
S p e e d chg
F5
t>
— = > S elect edit item .
Page *
<3
F3
F1
F4
Page Î
F5
>
E ach so ft key fu n ctio n as follow s.
!
Insert
! T h e new in s tru c tio n is in s e rte d a fte r th e line d esig n ated by th e c u rso r.
F1
A lte r
! T h e in s tru c tio n d esig n ated by th e c u rs o r is chan g ed to an o th e r in stru c tio n .
F2
Delete
F3
|
! T h e in s tru c tio n d e sig n ated by th e c u r s o r can deleted.
|
| Line ed it
! T h e ad d itio n item an d n u m e rical d a ta in sid e th e in s tru c tio n of th e lin e d e sig n ated by th e
r^ ~ i
c u rs o r can be co rrec ted .
Speed chg j
F5
I O nly speed d a ta is changed.
|
Search
! T h e d isp la y d e sig n ated by e ith e r one of S tep No., L ine No., o r L abel No. is called up
F3
i
d irec tly .
Page I
F4
|
|
I
Page Î
I
F5
|
! T h e page of the d isp la y is u p d ated .
|
-
186 -
1. 5. 1 Inserting Instruction
■■
(O p e ra tio n on O p e ra to r's P a n e l)*
EDIT
Depress
key and set the cu rs o r
EDIT
to in s tru c tio n p o sitio n to be inserted.
B
! Insert
I Insert I
D epress
r
~
|
so ft key.
T h e new in s tru c tio n is in s e rte d a fte r the
lin e d e s ig n a te d b y th e c u rs o r.
The
ACTV-JOB
EDIT-JOB :S A M P L E -1
d is p la y
show n
a t th e
w ill
appear.
D esig n a te the d e s ire d in s tru c tio n g ro u p .
Line:
Step.
Instruction :
0001
000
NOP
in s tru c tio n on th e p o s itio n d e sig n a te d b y
th e c u rs o r.
T o g iv e an exam ple, in s e rt th e I/O
0002
001
M O V L V = 123
0003
002
M O V L V = 123
—« -------ey
0004
003
MOVL V =560
: = > S e le c t in s tru c tio n g ro u p .
r
ln/0ut
Sequence
Device
Same comd
Shift
F3
F2
F5
F4
In s e rtin g In s tru c tio n D is p la y
(E x a m p le )
S
r ig h t
I In/Out I
D epress
□ÏÂ
'ln/'Qul 1 sof t key.
□
Depress
----- > S elect instruction.
AIT
¡ Wr~
ÏJ L Ï
DOUT
<3
F1
DIN
F2
WAIT
F3
AOUT
F4
PULSE
F5
-
>
187 -
s orft ,key.
W A IT is displayed on input line.
D epress
I__1ÜLË__!
soft key.
I F4 I
o
IN # is d isp lay e d on in p u t line.
Display
<3
F1
F2
F3
F4
F5
>
E n ter the input No. by using DATA keys
in p u t N o .+ y n
ENTER
and d ep ress
B
Display -
==>
D epress
" W A I T IN 8 0 1
OFF
<3
F1
F2
F3
F4
ON
key.
soft key.
F3
V a r ia b le
F5
l>
If
you
w ant
to
set
the
time,
soft key.
<3
F1
F2
F3
F4
F5
>
Set the time by using D A TA keys.
188 -
dep ress
[0
D epress
ENTER
key.
T h e new in stru c tio n is in s e rte d a fte r th e
line d esig n ated by th e c u rso r.
ACTV-JOB:
EDIT-JOB : S A M P L E !
Line:
Step :
Instruction :
0001
000
NOP
0002
001
M O V L V = 123
0003
002
M O V L V = 123
003
MOVL V = 560
0004
0005
W A IT IN # 01 = 1 T = 1 0 .0
; = > S ele ct in stru c tio n group.
IN/OUT
Sequence
Dev i c e
Shift
Same Comd
V---------------------------------------------------------------------------- JJ
<1
| F1 |
| F2
F3 |
F5
| F4
R e g istra tio n of In se rtin g In stru c tio n Display
J
-
189 -
e>
8. 1. 5. 2 Altering Instruction
■“ ( O p e r a tio n on O p e r a t o r ’s P an el)"
Depress
EDIT
key and set the cu rso r
to in stru ctio n position to be altered.
A lte r
D epress
A lter
soft key.
rT T :
O
T h is d isp la y a p p e a rs.
D esig n ate th e d e s ire d in s tru c tio n group.
ACTV-JOB :
EDIT-JOB: S A M P L E -1
T o give an exam ple, alter DOUT
(external output) instruction on line
Line :
Step :
Instruction :
0001
000
NOP
0002
001
M O V L V = 123
0003
002
0004 to TIM ER instruction.
M O V L V = 123
0004
DOUT O T # 0 2 = 1
0005
W AIT IN # 0 1 = 0
= > S ele ct in stru c tio n group.
Sequence
ln/0ut
.........................................
F1
<1
Shift
Device
...............
F2
S a m e comd
— — ------------------------------
F4
F3
F5
>
A lte rin g In s tru c tio n D isp lay
S
ISequence I
Sequence;
D epress
¡—-rr—,
I ri
D epress
rp T ]
□
TIMER
JUMP
<
TIMER
F1
F2
NOP
F3
O
Label
F4
F5
t>
soft key.
E n te r th e tim er v alu e by u sin g D A TA
T im e r +
k ey s and d e p re s s
enter
key.
o
T h e in stru c tio n is a lte re d and
ACTV-JOB:
Line :
Step :
Instruction:
0001
000
NOP
0002
001
M O V L V = 123
0003
002
M O V L V = 123
0004
TIM ER T = 1 0 .0
0005
W AIT IN # 01 = 0
= = > S ele ct in stru c tio n group.
Insert
Alter
Delete
Line edit.
D isp lay a fte r A lte rin g In stru c tio n
S p e e d chg
th is d isp lay ap p e ars.
I
8. 1. 5. 3 Deleting Instruction
key.
D e p re ss
EDIT
D e p re ss
I DeleleJ
F2
Fyprnfp
D ep ress
Move instruction cannot be deleted.
-
192 -
<
F5
so ft êy.
I
i
I
so ft key.
8. 1. 5. 4 Correcting Line
■—
—
(O p e ra tio n on O p e r a t o r ’s P a n e l ) .
D ep ress
EDIT
key.
ACTV-JOB:
LINE :
INSTRUCTION :
STEP
0001
000
NOP
0002
001
MOVL V =123
0003
002
MOVL V =123
0004
W A IT I N # 0 1 = 0 T = 1 0.0
0005
D O UT O T # 01 = 1
= > S ele ct e d it item .
Insert
Alter
F1
F2
<3
0
j
D e l e te
F3
L in e edit
S p e e d chg
F4
F5
A lte ra tio n of D ata on In stru c tio n
t>
I Line e d it I
Set the cu rso r to the in stru ctio n to be c o r
rected and d ep ress
O
I
m
m
=0
is copied in the input buffer.
Date add
F1
F2
F3
F4
>
F5
T h e follow ing e d itin g is p o ssib le in th e in p u t b u ffer.
(1)
T h e only n u m eric d a ta of in s tru c tio n s can be changed.
(2)
T h e a d d itio n a l item can be in s e rte d in th e in stru c tio n .
(3)
T h e only u n n e c e s sa ry a d d itio n a l item is deleted.
One line is classified as follows.
W A IT I N #
soft key.
I
T = 10 0
Date chg
<3
F4
One in stru ctio n line designated by cu rso r
= = > S pecify th e d istin ct item s and co rre c t them .
W A IT
ILine edil I
0 1 = 0 T = 10. 0
_L
L
-1___ I
-----------N u m eric d a ta
-A d d itio n a l item
■Instruction
-
193 -
(1)
A lte rin g only nu m e ric v alu e d a t a in in stru c tio n
—
(O p e ra tio n on O p e r a t o r ’s P a n e l)“
----- > S e p e c if y th e d istin c t item s an d c o rre c t them .
W AIT
IN # 0 1 = 0
Data chg
D a t e dit
T = 10.0
I Date add
-
r
-
S p ecify d a ta to b e a lte re d b y th e cu rso r
[T C L
or
| F5,
u sing
0
or
F4
I Data c h g l
so ft keys.
| Data chg |
D ep ress
e
CU RSO R '
F5
.
so ft key.
S o ft k ey la b els fo r in p u t u n it selec tio n a re
= =>
W A IT I N # 0 1 = 0
.
T = 1 0 -0
d isplayed.
IGS
S p ecify th e sa m e k ey th a t is re g iste re d
<3
F1
F2
F3
F4
alre ad y .
F5
In th is case, d ep ress
IN #
F4
so ft key.
□
In p u t n ew d a ta by u sin g D A T A keys. U se
d isp lay in g so ft k ey la b e ls to c o rre c t in p u t
d a ta .
m
D epress
tw ice
ENTER
k e y tw ic e to co m p lete
th e a lte ra tio n .
ENTER
1 s t d e p re ssio n 1 In p u t d a ta is re g iste re d to th e in p u t b u ffe r line.
ENTER
1 s t d e p re ssio n i In stru c tio n on th e c u rs o r is a lte re d to th e in s tru c tio n on
in p u t b u ffe r line.
_____________________________ J
-
194 -
(2)
I n s e r tin g additional item in in stru c tio n s
>«■
“ " " ( O p e r a tio n on O p e r a t o r ’s P a n e l ) “
= = > S p ecity th e d istin c t ite m s an d c o rre c t them .
W AIT IN # 0 1 = 0
D
Date chg
D a t a dit
F1
F2
Data ad d
F4
F3
F5
I Data add I
Depress
F3
soft key
F3
Soft
key
appear.
labels
to
Tim e
D epress
I
< H 7 7 1 | F2 || F3 I F4 |[ 7 %
add
F5
item
will
soft key.
I
>
O
= = > E n ter tim e d ata.
W A IT IN « 0 1 = 0
'T =
Display Backspace
a
0
S et th e tim e r by u sin g D A T A keys.
B
D epress
ENTER
key twice.
T h e in stru c tio n on th e c u r s o r is a lte re d
o
to th e in stru c tio n on in p u t b u ffe r line.
= = > Specify the d istin ct item s and co rrec t them .
Display -
’ W A IT I N # 0 1 = 0
Data chg
T * * 1 0 .0
D a t e dit
Date add
<
1
1FI IIF2~~|[ F3
|[ F4~|| F5 ||~£>
-
195 -
(3)
D eleting a d ditiona l in in stru c tio n
- — •(O peratio n on O p e r a t o r ’s P a n e l ) - “
= = > S pecify th e d istin c t ite m s an d c o rre c t them .
W A IT
Data c hg
IN # 0 1 = 0
T = 1 0 .0
D a t a dit
Data add
Specify the item to be deleted by the cu rso r
7 T ^ or
[ F2,~
□
using
soft keys.
F1
@
F2
I Data d it !
Data d it j
D epress
ry ^ ~ i
s° ft key.
D epress
Execute
soft key.
s
= = > [E xcute] d eletes th e d ata.
Display •
» W A IT I N # 0 1 = 0
F5
T - 1 0 .0
R esum e
T h e sp ecified item is d eleted an d d isp la y
E x e c u te
ch an g ed as follow s.
<3
F1
F2
F3
F4
F5
O
= = > S pecify th e d istin c t ite m s an d c o rre c t them .
Display
a
— • W A IT IN # 01 = 0
D a ta c h g
D a t a d it
T h e line e d it o p e ra tio n ca n be
-
-
D a ta a d d
co n tin u ed .
-------------------------------------------------------------------------------*
F2 |
• If line e d it is com pleted, d e p re ss
l* J
0
F1
0
0
<3
key.
ENTER
T h e in stru c tio n on c u rs o r is changed to th e in stru c tio n in in p u t b u ffe r line.
J
E rror occurs if the item w hich is im possible to be deleted is specified.
-
196 -
8. 1. 5. 5 Editing for MOVE Instruction
T h e m ove in s tru c tio n s a re b asica lly re g is te re d (taught) by th e teach p en d an t.
added, re g iste re d o r d eleted th ro u g h th e o p e r a to r ’s panel.
th ro u g h th e te ac h p en d a n t, v a rio u s a d d itio n a l item s can be ed ited .
o p e ra tio n fo r o th e r in stru c tio n s.
T h erefo re, th ey ca n n o t be
O nly for move in stru c tio n s re g iste re d
O p eratio n is p o ssib le th e sam e as
R efer to a p p e n d ix 3 for th e ad d itio n a l item s.
(ite m s th a t can be ed ited by th e o p e r a to r ’s p a n e l)
• C hange of move in stru c tio n (m otion desig n atio n )
• C hange of m oving speed.
• C hange of speed d esig n atio n item s ( S election e ith e r T C P move speed, o rie n ta tio n change speed o r e x
te rn a l ax is speed.)
• C hange and deletio n of p o sitio n in g level
• S etting, change and deletion of in te r r u p t c o n d itio n s by in p u t signal.
• S e ttin g an d d eletio n of N W A IT (not w ait) function.
8. 1. 6 Work Condition Function
T h is fu n ctio n is used if th e w o rk seq u en ce becom es an im p o rta n t elem en t in w o rk co n d itio n s.
T h e w o rk co n d itio n fu n ctio n re g is te r s w o rk co n d itio n s, and job nam es a re re s e rv e d by ap p lica tio n .
T h e in te rn a l c o n s tru c tio n is tre a te d in ex a ctly th e sam e w ay as th a t of an n o rm al job.
stru c tio n s fo r w o rk co n d itio n s can be re g iste re d as if an n o rm al jo b is created .
F o r w eld in g o p e ra tio n , follow ing job nam es a re re se rv e d .
• ARCON X X ! fo r c o n d itio n s d u rin g ARC ON
• A R C O F F X X ! fo r c o n d itio n s d u rin g ARC O F F
t
C ondition No. (01 to 99)
-
197 -
T h e re fo re in
8. 1.6. 1 Creation (Registration) of Work Condition
T h e w o rk co n d itio n can be c re a te d a s in an n o rm al job. A job nam e can be re g is tre d by u sin g th e nam e
of th e w o rk co n d itio n re se rv e d .
R e g iste r th e job nam e as follow s, r e f e r rin g to p ar. 8 . 1 . 5 .
■ (O peration on O p e r a to r ’s P a n e l)-
(D e sc rip tio n )
D E_J
D epress
TEACH
key.
D epress
i New *°-b 1
soft key.
D epress
[reserve JOBj
soft key.
0
i F5 I
0
0
0
0
0
^
-
198 -
I
'
o
o
o
o
ACTV-JOB:
EDIT-JOB :SA M PLE-1 L
Teach Mode
R eserve job d isp lay a p p e ars.
3 :0 0 0
Reserve job
NO.
NO.
JOB NAME
1
A R C O N **
6
2
A R C O FF**
7
3
8
4
9
5
10
JOB NAME
= =>
-
-
Back space
Exit
Set th e c u rs o r to th e d e s ire d jo b nam e by
BE ( I
u sin g c u rs o r keys.
H F
@ In p u t th e co n d itio n No. by u sin g D A T A keys.
D epress
ENTER
key.
T h e w o rk job is c re a te d an d job lis t
d is p la y a p p e a rs.
T h is d isp la y h a s tw o in s tru c tio n s
(No. 9 an d END).
-
199 -
I
( E x a m p le of condition job r e g is t ra tio n )
(1)
A rc on
0000
0001
0002
0003
0004
0005
0006
0007
(2)
r ,r-, ) W eld in g conditio n
NOP
VWELD
AWELD
TIMER
ARCOF
END
□□
LÛT.!
T = lI;.
1
C re a te r con d itio n
'
NOP
DOUT
DOUT
DOUT
WAIT
DOUT
DOUT
DOUT
END
O T # !'ir ' = ''j | „
.
, .
O T # rirÎ« .r-’ 1 S ettin g of tim er co n d itio n
O T # ; x ; = [j---S p o t gun, clam p in stru c tio n
I N # - C l a m p check sig n al w ait
O T # L ;[j = L.’" -S p o t gun, un clam p in stru c tio n
oT#nn=Pi „ ,
O T # r ' ^ e *ease ° f tim er co n d itio n
H and on
0000
0001
0002
0003
0004
0005
0006
0007
(5)
T = n .n
S pot w elding
0000
0001
0002
0003
0004
0005
0006
0007
0008
(4)
} In itial w elding co n d itio n
A rc off
0000
0001
0002
0003
0004
0005
(3)
NOP
VWELD
AWELD
ARCON
TIMER
VWELD
AWELD
END
NOP
WAIT
DOUT
TIMER
DOUT
WAIT
DOUT
END
O T # !X i-[J
T = D . lj
O T #['_][';-G
I N # l_:lj
OT#L][_'j = L!
C atch OK sig n al w ait
H and on in stru c tio n o u tp u t
C atch com plete sig n al o u tp u t
C atch check sig n al w ait
C atch com plete sig n al re le a se
H and off
0000
0001
0002
0003
0004
0005
0006
0007
0008
NOP
DOUT
WAIT
DOUT
TIMER
DOUT
WAIT
DOUT
END
OT#
IN #
OT#
t = :;
OT#
IN #
OT#
"]['; = L jH and-off p ré p a ré sig n al o u tp u t
"][j = L.’]H and-off OK sig n al w ait
.j;_; = u H a n d -o ff in stru c tio n o u tp u t
T'1
-"JL] = r.]H and-off com plété sig n a l o u tp u t
^ [^ “ □ H a n d -o ff ch eck sig n al w ait
T ' i - i ’jH and-off com plété sig n al re le a se
- 200 -
8.1. 7 Work Data Files
W o rk d a ta files a re u sed w h e re w o rk co n d itio n s a re se t by d ata.
In th e c a se of a rc w elding, use th is file fo r “W e av in g C o n d itio n ”. T h e d e sig n ated file a re referen c ed
by th e w e a v in g s ta r t in stru c tio n fo r th e jobs.
(E x a m p le of a rc w eld in g )
T h e re are 16 files.
T h e re g is tra tio n a n d ed itin g of ea c h file a re d escrib ed a s follow s.
F o r th e d etails, see p ar. 10. 1 . 4 .
8. 1. 7. 1
Selecting Condition File Display
■“ ^ ( O p e r a t i o n on O p e ra to r’s P a n e l) “
(D e sc rip tio n )
** I
3 k
D epress
DISP
D epress
File
B
soft key.
F3
D epress I C°ndfile I soft key.
I F3
-
201 -
I
I
□
I W eaving |
D epress
.
F5
.
soft key.
T he w e a v in g condition display appears.
o
A C T V -JO B : * * * * * *
E D IT -JO B : * * * * * *
WEAVING PARAMETERS (FILE NO : 01)
MODE (0: SIMPLE 1 .TRIANGLE, 2:L-GROOVE)
( 0 :SMOOTH, 1: NO SMOOTH)
WEAVE SPEED SETTING (0: FREQ , 1: TRAV.TIME)
AMPLITUDE FROM CENTER (SIMPLE MODE)
WEAVE FREQUENCY
TRAIANGLE WEAVE : VERTICAL
HORIZONTAL
ANGLE OF V /H
WEAVE ADVANCE ANGLE
= =>
Page Î
=0
= 1
= 1
=
=
4.5
2
4.5
4.5
90.0
10.0
Page 1
mm
Hz
mm
mm
deg
deg
Weaving
Fig. 8 . 24
Weaving Condition Display
___________________ S
-
202 -
8.1. 7. 2 Registering and Correcting Condition File
■“ ^ “ " " " ( O p e r a tio n on O p e ra to r’s P a n e l)' ™
D epress
key w hile condition file
EDIT
is displayed.
O
Soft keys for editing appears.
®
m m
piv
Specify
l Data<*9 I
d ep ress
F3
0 0 ^
the
d ata
LDatachg |
I F3
to
be
sof(. key
I
o
@ In p u t c o rre c t data.
B
D epress
ENTER
key.
The new d ata are registered.
-
203 -
co rrected
and
8. 1. 8
User Variable
U se r v a ria b le is c la ssifie d into five d a ta ty p e s as show in T ab le 8 . 1
T ab le 8 . 1
U s e r V a ria b le T y p e
Code
B yte
BOO to B99
In te g e r
F u n ctio n
S to re s I/O sta tu s.
L ogical o p e ra tio n (AND, OR, etc.) is p ossible.
100 to 199
S to re s n u m erical v alu es w ith sign.
D ouble-p recisio n
In teg e r
D00 to D99
S to re s la rg e n u m erical v alu es w ith sign.
Real
R00 to R99
S to re s n u m erical v alu es w ith decim al point.
R obot
A x is
S to re s p o sitio n d a ta a t p u lse -ty p e o r XYZtype. (F o r e x te rn a l ax is, only for p u lse type) U sed
as p a ra lle l sh ift file.
POO to P63
P o sitio n
E x te rn a l
A xis
EX 00 to EX63
-
204 -
8. 1. 8. 1 Calling up of User Variable Display
D epress
DISP
File
D epress
key
soft key.
F3
| V a riable |
D epress
| F4 |
soft key.
^S o ft k e y s fo r u s e r v a ria b le are s ix .
\
A ll k e y s can be d is p la y e d b y de
p r e s s in g
| > |
key.
S elect d e s ire d v a ria b le and dep re ss the
s o ft key.
-
205 -
(
I
( E x a m p le of u s e r v a r ia b le d is p la y )
P o s itio n v a r i a b le ( P )
I n te g e r - ty p e V a r ia b l e
<V ariable N o.)
<Contents>
<V ariable No.>
(C ontents0
100
0
110
101
0
1 11
0
102
0
112
0
#PO O
#P01
109
Fig. 8 . 25
8. 1. 8. 2
Integer-type Variable Display
0
0
L
0
U
0
U
0
0
#P02
S
0
R
0
R
B
0
B
0
T
0
T
0
S
0
L
0
#P03
X
0 .0 0 0
Y
0 .0 0 0
U
0
Z
R
0
TX
0 .0 0
B
T
0
TY
0 .0 0
0
TZ
0 .0 0
Fig. 8 . 26
0 .0 0 0
Position Variable (Robot Axis) Display
Data Setting of Variable (Byte, integer, double-integer and real types)
""
■i
0
119
0
S
L
(O p e ra tio n on O p e ra to r’s P a n e l)
N
(D e sc rip tio n )
I
DtSP 1
D epress
DISP
D epress
File
B
Job
F1
<
Position
File
F2
F3
Diagnosis
F4
soft key.
CfO
STACK M S P
F5
o .
B
r.
D epress
V a riable
,
,
' ,-------. 1 soft key.
F4
□
= = >
D isp lay th e d e s ire d v a ria b le d isp la y by
Byte-type
<
F1
Ini-type
D. Int-type
Real-type
n u. J E s J L î f J L î î -
d e p re s sin g th e so ft key.
o
D ep ress
-
206 -
e d it
key.
DD
Set th e c u rs o r on
th e
p o sitio n
to
be
ch an g ed by u sin g c u rs o r keys.
~
Data chg
D e p re ss h —^ r-T
.
so ft key.
EU In p u t th e d a ta by u sin g D A TA keys.
m
D epress
ENTER
key.
Input data are registered.
1 . Repeat steps (H
to
EO
if necessary.
2 . Data setting range is different depends on ea c h v a rib le type.
S ee a p p e n d ix A 1. 2.
8. 1. 8. 3
Data Setting of Variable (Position type)
V a ria b le d a ta can be se t on o p e ra to r’s p an el o r te ac h p en d an t.
T a b le 8 . 2
P o sitio n V a ria b le S ettin g an d D ata T y p e
In p u t d ire c tly th e n u m erical value.
O p e ra to r’s panel
S ettin g M ethod
T each d e sire d p o sitio n by o p e ra tin g th e m a n ip u
lato r.
T each p en d a n t
P u lse ty p e
Set p u lse v alu e of each axis.
XYZ ty p e
Set T C P p o sitio n a t ab so lu te o r in c re m en tal value.
D ata T y p e
-
207 -
I
E ach o p e ra tio n d e s c rib e s below.
(1)
S ettin g of d a ta ty p e
(D e sc rip tio n )
■ (O peration on O p e r a to r ’s Panel)«
m
I
WSPl
D \
D epress
OISP
B
File
D epress
Di a g n o s i s
Position
F1
<3
'— T í
F4 I F5
— —1
Pagef
C o n d file
Variable
«
F3
F2
F3
STACK DISP
soft key.
>
B
D epress LVariable I soft key.
Page:
Ft
<1
F5 >
\---
EJ
By t e - t y p e
<
F1
F2
Int-type
F 3-
D epress
D Int-type R e a l - t y p e -
¥4
[>
key
m
m
= = >
...
Robot
<
1 F I 1 F2
Ex-axis
F3
Select desired position variable.
-
>
D epress
B
EDIT
key.
Set th e c u rs o r in p o sitio n v aria b le.
Use
Page J
Page T
I
keys.
-
208 -
F2
or cu rso r
I
= = >
Page i
Page Î
D a t a dlt
Panel
Te a c h pend
D epress 1 r.... - ,
soft kev.
F4
i
S et th e c u rs o r on th e p osition
(E x a m p le )
v a ria b le to be set.
If new re g is tra tio n is p erfo rm ed , se t th e
c u rs o r on m ark * (no re g istra tio n ).
Fig.
8 .27
Position Variable setting at
New Registration.
= = >
Page i
Page Î
Copy
Data chg
i
Date-type
i
D epress lData~tyPel soft key.
F5
IP t f ü ]
:=>
“II
Puise-type
D epress
XYZ-type
Pulse-type
XYZ-type
F4
F5
soft key.
(2)
Data setting on operator’s panel
A fter se ttin g d a t a ty p e
[(1) in par. 8 . 1 . 8 . 3 ],
p e rfo rm d a ta setting.
(D escrip tio n )
■(O p e ra tio n on O p e r a to r ’s P a n e l) 1
D
S et th e c u rs o r to th e ax is to be se t by u sin g
c u rs o r keys.
Depress
Page I
<3
F1
Data chg
Page Î
F2
F3
F
soft
fF T l
Data-type
F5
® | 7 || e |[ 9 | In p u t d e s ire d d a ta by using
□ B B DATA ke,s'
□ S B
□ H Q
0
IÜH
Depress
1 . Repeat steps
D to 0
ENTER
key.
as necessary.
2 . When data are set to the first axis, mark * on the axis data position becomes 0 automatically.
-
210 -
(3)
D a ta se ttin g on te a c h pendant.
A fter se ttin g d a t a ty p e
[4
of (1) in par. 8 . 1
3 ],
p erfo rm d a ta setting.
O p eratio n on O p e ra to r’s P a n e l)*
o
&■
EOT
D epress
= =>
Pagel
<
«
<] key
¡Teach pend|
D epress
Pagel
D a t a dll
«
F3
Te a c h pend
Panel
____ I
F4
F5
==>
D epress
Pulse-type
< ] | F1
or
EDIT
F2
F3
XYZ-type
. r, ,
' F5 1
soft key.
Pulse-type
XYZ-type
F4
F5
soft key.
F4 I F 5 j >
■ (O peration on T each P e n d a n t)□
D epress
ENABLE
key.
T h e d is p la y on teach p e n d a n t becom es
e ith e r d is p la y s below.
T h ey a re ch an g ed by d e p re ssin g
a c>
EXT
AXES
key.
a c>
EXT
AXES
P I0 I0 I
no l i g h t : fo r ro b o t axis.
P U L S
IE
CD C f r
EXT
AXES
P IX i 0 I0
w
l i g h t : fo r e x te rn a l ax is.
P IU I L I S I E
w
*
C hanged by d e p re ssin g
"o ^ T Ikey-
-
211 -
ON
or
Taught Position Data to Position Variable
1 . Repeat steps
El to
H as necessary.
2 . Position correction method :
Depress
key.
3 . Set-mode at TEACH mode is released in the following cases.
• Any mode keys
§
§
§
or any function keys Q ( ^ ] ( » r j ( ^ r | is depressed.
is depressed.
• Alarm occurs.
• The power supply is turned off.
-
212 -
8. 1. 8. 4 Confirmation of Position Registered in Position Variable
" ^ ^ “ (O p e ra tio n on O p e ra to r’s Panel
D epress
DISP
key
D epress
File
soft key.
B
==>
Position
n
Pile
D i a g n o s i s S T AC K DISP
ra,
«
F3
F5
B
^
D epress
Page 1
Page T
Cond.file
V a riable
,,
,
. 1 soft key.
Variable
□
D epress
Byte-type^
Int-type
[>
key.
D.Int-type R e a l - t y p e
J
S e le c t e ith e r ro b o t-a x is o r e x te m a l-a x is
Ex-axis
b y d e p re s s in g th e s o ft key.
@ ® B i 5 E•Î.J5*7-I Ê l
\
\
-
213 -
o
S elected p o s itio n
appear.
Fig. 8 .29
v a ria b le
d is p la y w ill
Position Variable (Robot-axis)
Display
m
D epress
DtSP
key.
DtSP
[Teach pendl
r~'F5 i
D epress
soft key.
EU
= = >
D epress
Pulse-type
< 3
II
F i
II
r e
F 3
II
«
II
I X Y Z-typ I
,
soft key.
XYZ-type
F 5 j
>
-(O p e ra tio n on T e a ch P e n d a n t)-
XY Z-type
Depress l t
1 IR
EXT
AXES1
D e p re s s
O N
I
[ j^ ^ J
O F F
F5
.
, 1 key.
D epress these keys as necessary.
T h e m a n ip u la to r m oves to th e re g is te re d
ê y .
p o s itio n in p o s itio n
• <BW Pj
v a ria b le
d is p la y in g on teach p e n d a n t.
-
214 -
w h ic h is
8. 1 . 8 . 5
Deletion of Data Registered in Position Variable
(O p e ra tio n on O p e ra to r’s P a n e l)
1v
(D e sc rip tio n )
D epress
D epress
DISP
key.
File
F3
Job
<1
F1
Position
F2
File
F3J
Diagnosis
F4
STACK OtSP
F5
|>
B
D epress
L^ lr'abl^ I
soft key.
F4
□
==>
D epress
Byte-type
Int-type
D.Int-type
<]
key.
Real-type
S elect e ith e r ro b o t-a x is o r e x te rn a l-a x is
by d e p re ss in g th e so ft key.
0
D ep ress
S M ;.
edttJ
-
215 -
EDIT
I
« m
Page î
Page 1
i s
I
F1
P lace th e c u rs o r on ax is in follow ing
or
I
p o sitio n v a ria b le by u sin g c u rs o r k ey s or
B ö
page so ft keys.
• A x es in p o sitio n v a ria b le :
S, L, U, R, B, T o r W 1 , W 2 , W 3 , W
4, W 5,W 6 .
m
==>
D epress
Data d lt
soft key.
F3
i
I
Page î
D a t e dit
Panel
T e a c h pend
JF1
m
D epress
Execute |
ffti
o
CU RSO R
P osition
V ariab le ( P )
#P00
s
P
123
# P 0 2
1230
U
456
U
R
123
R
B
123
T
1230
L
V\
\ \
¡J
J I
P osition
V ariab le ( P )
#P00
*
*
*
*
*
S
J
L
B
T
/
\
*
All a x e s d a ta
are d e le te d .
S
*
S
*
L
*
L
*
u
*
U
*
R
*
R
*
B
*
B
*
T
*
T
*
# P 0 2
/
J
,
/
/
# P 0 1
-
216 -
soft key.
8. 2 EDITING JOB ON TEACH PENDANT
B asic o p e ra tio n of jo b ed it on teach p e n d a n t sh o w s below.
a
■ (O peration on T ea ch P e n d a n t) 1
D e p re ss
D ep ress
a
key an d call up de-
ADDR
s ire d
or
key
e n a b le
in s tru c tio n
by
d e p re ssin g
key.
OFF
-+ -,
O N .11
°r
O FF
s
D ep ress d e s ire d key.
C hange
□
on
th e
or
d a ta
OFF
by
key.
a
D ep ress an y key.
0
D ep ress
-
217 -
re c o rd
key.
d e p re s sin g
+
ON
8. 2. 1 Edit Instruction on Teach Pendant
T h e follow ing in s tru c tio n s can be ed ited on teach p en d an t.
(1)
Move in s tru c tio n s (MOVJ, MOVL, MOVC)
Key
E ditab le I n stru ctio n
D isplay C on tents
Line, step , in stru c tio n
MOV J ! on
MOV L ! on
MOV C : on
M OVOEX !
lin k sp ecificatio n
lin e a r sp ecificatio n
a rc sp e cificatio n
w ith e x te rn a l
P lay sp eed s e ttin g v alu e
MOVD
M O V Q E X ! w ith e x te rn a l ax is
P o sitio n in g level
M O V D PL = n
M O V Q E X PL = n : w ith e x te rn a l ax is
□ is applied to J, L or C according to interpolation specification.
(2)
In stru c tio n s re la te d to m a n ip u la to r m otion
D isp la y C o n ten ts
Key
" R"EF1
PNT J
- X- ]
TOOL J
TIMER ____j
r --S i
(3)
E d ita b le In s tru c tio n
R eference nu m b er
REFPn
Tool n u m b e r
TLn ! registered when step is registered
T im e r s e ttin g v alu e
TIMER nnn. nn ! See par. 8. 2. 1. 1
O th e r In stru c tio n s
Key
D isp lay C o n ten ts
E d it In stru c tio n
F ile n u m b e r
ARCON (A rc ON in stru c tio n ) o r CALL ARCON nn
F ile n u m b e r
A RCOF (A rc O F F in stru c tio n ) o r CALL A RCOF nn
W e ld in g v oltage s e ttin g v alu e
V W ELD n n (W eld in g v oltage in stru c tio n )
W e ld in g c u r r e n t s e ttin g v alu e
A W ELD nn (W elding c u r r e n t in stru c tio n )
O u tp u t s ta tu s
None (can n o t be reg istered .)
These functions vary according to the application.
In table above, example of arc welding is shown.
-
218 -
I
8. 2. 1. 1 Timer Instruction
(1)
R eg istra tio n
(D e sc rip tio n )
D e p re ss
e n a b le
D ep ress
|
key.
key.
t im e r
tu rn e d on.
T h e lig h t is
T h e d isp la y below is show n.
1
2
0
0
S
E
C
T im e r se ttin g valu e
+
Set the tim er by using
OFF
ON
key.
The setting range is 0 .0 1 to 327.67 seconds.
D epress
RECORD
key.
Tim er in stru ctio n is registered.
(2)
f
C o rrec tio n
(D e sc rip tio n )
(O p e ra tio n on T each P e n d a n t) '
D e p re ss
e n a b le
key
C onfirm th a t th e c u r r e n t a d d re s s is
tim er in stru c tio n .
D epress
m
TIMER
key.
T he light is turned on.
T he display below is shown.
1
0
0
S
E
C
T im er s e ttin g valu e
□
+•
ON.
or
OFF...
Set the desired tim er value by using
OFF
key.
D epress
m o d ify
key.
D epress
RECORD
key.
is registered.
-
219 -
+
ON
T he new tim er value
SECTION
9
DATA STORAGE (FLOPPY DISK UNIT OPERATION)
For an external m em ory unit, 3.5-inch flo p p y disk unit
is provided as optional.
S tore the various registered data, param eters, etc. in
a c o n tro lle r to the flo p p y d isk unit. If you should delete
CONTENTS
9
PAGE
D A T A S T 0 R A G E ( F L 0 P P Y DI SK U N I T O P E R A T I O N ) •• ••221
9. 1
P R E C A U T I O N S ...........................................................222
9. 1. 1
Save and Storage o f Floppy D isk U n i t .................................... 222
9. 1. 2
H a n d lin g and S toring Floppy D is k ............................................ 222
9. 2
9. 3
9. 4
9.
F IL E N A M E INSIDE F L O P P Y DISK ................. 223
STORED D A T A A N D PROCESSING L I S T ........224
CON NE CT IN G M E T H O D ........................................ 224
5
P R E P A R A T I O N OF F L O P P Y DISK U N I T ........ 225
9. 5. 1
T u rn in g Power O n ........................................................................... 225
9. 5. 2
Inse rtin g Floppy D is k ................................................................... 226
9.6
FL O P P Y DISK U N IT O P E R A T I O N .....................227
9. 6. 1
C a llin g up Floppy D is k s ............................................................... 228
9. 6. 2
F o rm a ttin g ....................................................................................... 230
9. 6. 3
Selecting T ransm ission and P rocessing................................... 231
9. 6. 4
Related Jobs S a ve ........................................................................... 233
9. 7
C H E C K IN G T R A N S M I T T I N G S T A T U S .............. 235
-
221 -
9. 1 PRECAUTIONS
9. 1. 1 Save and Storage of Floppy Disk Unit
Floppy disk unit is precise m echanical and m agnetic recording equipment. Do not subject the u n it'to any
kin d of im p act, shock, etc.
Do not leave it in an environm ent which contains a large am ount of iron filings, etc., for a long tim e
because its reliability is greatly reduced.
©
CONTRAST
Î
7
ll
8
I R
H
Store in an area w ith o u t iron filings, etc. a f te r operating the unit.
POWER
®
BUSY
©
ERROR
©
BATTERY
| IN |[Ô Ù t ] [
r St
|
0000 000
0000 000
0000
Note : Prepare 3.5-inch MFD
2DD floppy disk by user.
[c lr |[c a p ||fr m |
X T
Fig. 9. 1 Floppy Disk Unit
9. 1. 2 Handling and Storing Floppy Disk
H andle th e d isk w ith m axim um c a re to sto re v a lu a b le d a ta safely.
Basic precautions as m inimum re q u ire m e n ts in handling a floppy disk are as follow s:
• A flo p p y d isk is a m agnetic re c o rd in g device.
S to re d d a ta m ay be d e s tro y e d if a stro n g m agnetic
field (e. g. a m a g n et) is b ro u g h t clo se to it.
• A p ro te c tiv e co v er slides on th e m a g n etically -co ated re c o rd in g d evice of th e 3 .5 -in c h flo p p y d isk to
avoid d ire c t e x p o su re .
Do not open th is p a r t o r touch it.
• D u st m ay ac cu m u late on th e floppy d isk if it is p laced in o n e’s p o ck et o r is p laced on th e co n tro l
eq u ip m en t w ithout a case.
A fa ilu re m ay o cc u r if a co n tam in ated floppy d isk is in se rte d in th e flo p
py d isk d riv e.
• T h e 3 .5 -in c h floppy d isk is sto re d in a h a rd case an d does n ot bend easily .
H ow ever, h an d le it w ith
care by s to rin g it in a sp ecified sto ra g e box o r in a n o th e r s u ita b le c o n ta in e r to avoid su b je c tin g it to
undue force.
-
222 -
9. 2 FILE NAME INSIDE FLOPPY DISK
T h e d a ta tr a n s f e rr e d from th e c o n tro lle r is sto re d in th e floppy d isk s as files.
E ach of th e se files h as a
file nam e fo r id e n tifica tio n .
C o n ten ts
* 1 F ile Name
B atched CMOS m em ory
CMOS. HEX
CMOS. HEX
JOB. HEX
JOBS. HEX
(job name) . JOB
(Job name) . JOS
(File Name) . JBI
(File Name) . JBR
W EAV. DAT
TOOL. D A T
CV. D A T
W EAV. DAT
TOOL. D A T
CV. D A T
SENSOR. D A T
COMARC 2 . DAT
PCIPC 2 . D A T
SENSOR. D A T
COMARC 2 . DAT
PCIPC 2 . D A T
PARAM . D A T
PARAM . D A T
R obot fixed p a ra m e te r
System d efin itio n p a ra m e te r
C o o rd in a te o rig in (A)
C o o rd in a te o rig in (B)
System m atch in g p a ra m e te r
C om m unication
(g en e ra l-p u rp o se s e ria l port)
W elding
M ainten an ce
S ensor
C om m unication (option)
RCPRM. D A T
SDPRM. D A T
RAPRM. D A T
RBPRM. D A T
SCPRM. D A T
RSPRM. D A T
W EPRM . D A T
MEPRM. D A T
SEPRM . D A T
CM PRM. D A T
RCPRM. D A T
SDPRM. D A T
RAPRM. D A T
RBPRM. D A T
SCPRM. D A T
RSPRM. D A T
W EPRM . D A T
MEPRM . D A T
SEPRM . D A T
CM PRM. D A T
C o n c u rre n t I/O p ro g ram
I/O sig n al nam e
In te rn a l d a ta
A b so lu te d a ta
S ystem in fo rm atio n
CIO. PRG
IONAME. D A T
STATE. DAT
ABSO. D A T
SYSTEM . D A T
CIO. PRO
IONAM E. D A T
IST A T E . DAT
ABSO. D A T
SYSTEM . D A T
B atched U se r m em ory
Job
C ondition
Single job
M a ster (related ) job
W eav in g d a ta
T ool d a ta
C onvey o r d a ta
S en so r d a ta
/ P a th c o rre c tio n co n d itio n
\
I d a ta
\
1 COM- ARC II co n d itio n d a ta I
\P o s itio n co m p en satio n d a ta j
B a tc h ed all p a ra m e te rs
P a ra m e te r
I /O sy stem d a ta
* 2 F ile Name
* 1
F o r ROM v e rsio n 1 ,2[H /1.2C H and before.
* 2
F o r ROM v e rsio n 2 .0 0 / 2 .1 0 and afte r.
U se r a larm and u s e r m essage a re lo a d e d /s a v e d w ith c o n c u rre n t I/O progrom .
-
223 -
I
9. 3 STORED DATA AND PROCESSING LIST
D ata re g is te re d in th e u s e r m em ory of c o n tro lle r can be sto re d on floppy d isk s.
In fo rm a tio n in sid e th e sy stem su ch as p aram eters can be sa v ed sim ilarly on flo p p y d isk s as an ad d itio n a l
sa fe ty m easu re.
T he follow ing item s a re sto re d on flo p p y d is k s an d can be relo a d ed in th e u se r m em ory
of co n tro ller.
(1)
Job
(2)
C ondition file
(3)
T ool co o rd in a te d a ta /U s e r co o rd in a te d a ta
(4)
P a ra m e te r
(5)
C o n c u rre n t I/O p ro g ra m
(6)
I/O n a m e /U s e r m essage
(7)
In te rio r d a ta (V ariab le, etc.)
(8)
S ystem In fo rm atio n (System No, A larm h isto ry , etc)
9. 4 CONNECTING METHOD
U se th e sp ecial cab le to connect th e floppy d isk u n it an d co n tro ller.
A floppy co n n ecto r an d floppy
po w er p lu g so ck et a re in sta lle d on th e o p e r a to r ’s p an el below.
T o open, lig h tly p u sh the sm all a re a p rin te d “P U SH ”.
T h e cab le m ay be co n n ected w h ile p o w er to
th e c o n tro lle r is tu rn e d ON.
AC 100V 0.5A
□
OVERRUN
RECOVERY
RS232C
®r
EDIT I.6CKg*
-------
ON *5 ’
O
3®
Connector for floppy and personal computer
connection (D-SUB connector)
100VAC power (for floppy) receptacle
Do not use a 100VAC power supply inside the auxiliary panel for purposes other than the floppy disk unit.
Fig. 9. 2
Internal Auxiliary Panel
-
224 -
9. 5 PREPARATION OF FLOPPY DISK UNIT
9. 5. 1 Turning Power On
Depress the bottom side of this
switch to turn ON power.
Plug tor the power cable.
Fig. 9. 3 Floppy Disk Unit (Rear Panel)
(D
C onnect th e cab le to th e c o n tro lle r to RS232C CH- 1 on th e r e a r p an el of th e floppy d isk unit.
(D
Plug the power cable socket into the specified connector securely.
(D
T u rn on po w er to floppy d isk u n it by d e p re ssin g th e bottom sid e of p o w er s w ith on th e r e a r
panel.
©
©
T h e PO W ER lam p on th e fro n t p an el lights.
S elf-diagnosis begins sim u lta n eo u sly an d "F X ” w ill be d isp lay e d on th e sc re e n if th e d riv e o p e r
ate s p ro p e rly .
T h e floppy d isk is au to m atica lly se t to th e co n tro l m ode w hen p o w er to it is tu rn e d ON.
No se lec tin g
o p e ra tio n is re q u ire d .
1.When the floppy disk is being inserted, do not turn the power ON/OFF.
2.Avoid touching the key on the front panel of the floppy disk drive inadvertently.
Unnecessary
touching of the keys may change the floppy disk unit operation mode and disable data transfer with
the controller.
If a key is touched accidentally and data transfer with the controller is disabled, tu rn OFF power to
the floppy disk unit m om entarily and then turn ON pow er again.
-
225 -
9. 5. 2 Inserting Floppy Disk
O
FX
DISPLAY
PO W ER
FLOPPY DISK
O
busy
EJECTION BUTTON
O
ER R O R
O
B A TTE R Y
CO NTRAST
FLOPPY DISK
INSERTION SLOT
K E Y -S W IT C H
K E Y -S W IT C H
FLOPPY DISK
o
- ~
ACCESS LAMP
Fig. 9. 4 Floppy Disk Unit (Front Panel)
(In s e rtin g )
(D
F lo p p y d isk in se rtio n slo t h a s a cover.
L ightly d e p re s s th e hook to open th e cover.
(D I n s e r t th e floppy d isk s tr a ig h t th ro u g h th e in se rtio n slot.
l.Do not force it.
2.Insert it in the correct direction.
When the disk is firmly in place, a click can be heard.
(R em oving)
(D
P u sh th e floppy d isk ejection b u tto n on th e u p p e r rig h t of th e fro n t panel.
T h e lock is re le a se d
and it is ejected.
Never push the EJECT button while data is being transferred w ith the controller.
troyed.
-
226 -
The data will be des
9. 6 FLOPPY DISK UNIT OPERATION
O p e ra te th e floppy d isk as follow s a t TE A C H MODE.
■0In s e rt floppy d isk in to floppy d isk unit.
V
F lo p p y
Call up floppy display by depressing
soft key.
P a r. 9. 6
/ j u s t w a it for a few se co n d s by
\d is p la y in g th e re g iste re d file No.
V
Select th e tra n s m itte d d a ta item by c u rso r.
P a r. 9. 6
V
P a r. 9. 6. 2
F o rm a ttin g
P a r. 10. 7. 4
V
Save
Load
V erify
D elete
D esig n ate th e tra n s m itte d file nam e by c u rso r.
v
^
|
C
ü
E xe c u te
j
iU
j
F3
ll
,
K e y
.
V7
Pars. 9. 6
E x ecte d a ta tra n sm ittio n .
and 9. 6
/ F lo p p y d a ta re a d in g is re p e a te d w hen th e
n u m b e r of rem a in in g b y te s re a c h e s 0.
W a it
se v e ra l seco n d s u n til th e n u m b e r of re g
is te re d files is d isp lay ed .
-
227 -
9. 6. 1 Calling up Floppy Disks
T h e so ft k ey s fo r o p e ra tin g floppy d isk can be called up by OP1 fu n ctio n key.
.(O p e ra tio n on O p e r a to r ’s k e y ) —
v
(D e s c rip tio n )
D
Of>1
|
Select the function.
Floppy
User coord
Tool
D epress
SPEC. PtiT
key.
0P1
D ep ress
Floppy
|
|~ F1 ~|
,
.
soft key.
O P T IO N
The d isplay below is shown.
b
i
F ll
F2
F3
F4
F5
o
D A T A IN T H E F L O P PY DISK
U N - U S E D MEM ORY
30%
C L A SSIFIE D D A T A
NOS O F F IL E (FLOPPY)
12
JOBS
□
CO N D ITIO N A L PROGRAM D A T A
2
□
ALL U SE R ’S PROGRAM S
0
□
PA R A M ET E R S
1
■
I/O SY STEM D A TA
0
■
A LL D A T A IN CMOS
0
■
O TH ER S
0
■
*
* * C A U TIO N * * *
■ : CAN N O T LOAD
: ) F lo p p y d isk d riv e is w o rk in g
Load
Save
V erify
Fig. 9. 5 Floopy Display
F orm atting
Delete
F lo p p y load o p e ra tio n fo r b atch CMOS an d b atch p a ra m e te r
-------- (O p e ra tio n on O p e ra to r’s k e y ) ---------------
D e p re ss
O F
0
(D escription )
ODD
ODD
0P1
key
A fte r d e p re ss in g U. ID n u m b er, d e p re ss
ENTER
key.
D
D ep ress
= =>
S e le c t th e fu n c tio n .
F lo p p y
<1
F1
Tool
F2
User coord
F3
SPEC PNT
FS
F1
so ft key.
T h e d isp la y below is show n.
OPTIO N
F4
Floppy
c>
U N -U S E D M EM ORY
30%
D A T A IN T H E F L O P P Y DISK
N O S O F F IL E (F L O P P Y )
C L A S SIFIE D D A T A
100
□ JO B S
0
□
C O N D IT IO N A L P R O G R A M D A T A
0
□
A L L U S E R ’S P R O G R A M S
0
□
PARAM ETERS
0
□
I/O S Y S T E M D A T A
1
□ A L L D A T A IN CM OS
0
■
OTHERS
* * * C A U T IO N * * *
CA N N O T LO AD
=>
V erify
S av e
L oad
□
D ep ress
F o rm a ttin g
Load
F1
Load
Save
Verify
Formatting
Delete
o p eratio n .
<l F1 F2 F3 F4 F5 o
. . _--------------------------------- -U
-
229 -
D elete
so ft key to ex ecu te load
9. 6. 2 Formatting
N e w ly -p u rc h ased floppy d isk (MFD 2DD. 3. 5 inches) m u st be fo rm a tte d to re g is te r th e p ro p e r re c o rd in g
fo rm a t in th e floppy disk.
|The floppy disk for the controller ERC is formatted to the MS-DOS recording format]
C o n tro l (ERC) d a ta c a n n o t be sa v ed in a floppy d isk w hich h as n ot been fo rm a tte d o r in a flo p p y d isk of
a n o th e r re c o rd in g type.
(D e s c rip tio n )
■ (O peration on O p e r a to r ’s P an el)*
D e p re ss
OP1.
0 P1
key.
0
Floppy
so ft key.
D ep ress
A fte r a few seco n d s
DAT A IN T H E FLO P P Y DISK
C LASSIFIED D A T A
UN- USED N E M O R Y
30%
NOS O F FIL E (F LO P P Y ) —
□
JO BS
□
C O N D IT IO N A L F R O G R A N D AT A
□
■
A L L U SE R’ S
P RO G R A M S
PARAM ETERS
■
1 /0
■
A L L D A T A IN CM OS
■
OTHERS
“E rr o r ” is displayed
■ : CAN N OT LOAD
* ♦ * CU ATION
Load
| |
d isp lay e d .
SY ST EM DATA
D epress
= > E rror
|
In th is colum n, “?’’ m ark is
Save
| |
Formatting I I
Verify"
CANCEL
key to
Delete
clear the E rro r.
e
Fotmatting
__
C ursor on d a ta g ro u p to tra u sm it and select
~ ^ th e so ft key.
load
<
Verity
Save
F1
Formatting
D ep ress
F2
F3 l F*J F5 11>
D e p re ss
= — > Push [Execute] it to fo rm a t a floppy disk.
1
Page
F4
ii
Execute
F5
so ft key.
T h e flo p p y d is k is fo rm a tte d .
Î
< i r » T r â i rrâi
Fs j p i
All data in the floppy disk are deleted by formatting.
•
so ft key.
T h e flo p p y d is k is fo rm a tte d .
□
Page
F4
Delete
-
230 -
9. 6. 3 Selecting Transimission and Processing
T h e d a t a sto re d in th e floppy disk a r e classified in 7 g ro u p s a s follows.
D esignate by c u r s o r w hich d a t a g ro u p is to be tr a n sfe re d .
Data to be
registered
in floppy disk
CLA SSIFIED D A T A
JOBS
CONDITIONAL PROGRAM D A T A
ALL U S E R ’S PROGRAMS
PARAMETERS
I /O SYSTEM D A T A
ALL D A T A IN CMOS
O THERS
□
□
□
■
■
■
■
NOS O F F IL E (FLOPPY)
12
—
^
'CURSOR
*
* * C A U T IO N * * *
■ : CAN NOT LOAD
= ) C u r s o r on d a t a g ro u p to be tr a n s m itte d and select the
soft key
Verify
Save
Load
Formatting
Delete
Fig. 9. 6 Floppy Disk
f ... .............“ “ ( O p e ra tio n on O p e r a t o r ’s Panel)*
n
CURSOR
DD
BI
Load
D esignate
d e s ire d
V e rify
F2
Formatting
Delete
F4
F5
d a t a g ro u p a p p e a r s on the display .
The display data of the file name
®
°OD
depending on the
designated data group. See “★ List
of file name” on the next page.
I
Execute
Designate desired file name by cursor.
F5
To interrupt the data transmission,
depress I
by
T h e list of the file nam e in desig n ated
CURSOR
0 L
g ro u p
D e p r e ss one of th e soft keys.
F3
list differs
□
data
c ursor.
S a ve
F1
the
A b o rt
_
~~| soft key.
Depress
I F4 I
|
Execute
f T i- ]
|
s°ft key.
Data transm ission starts.
-
231 -
I
★
List of file names
T h e d isp lay d a ta of the file nam e list differs d e p e n d in g on the desig n ated d a ta group.
following two display formats will be displayed.
(1)
One of the
W h e n th e re a re more th a n tw o files and file nam es a re no t e s ta b lish e d :
T h e menu will sh ow only the r e g iste r e d file names.
D esign ate the d e s ire d file by moving th e cu rso r.
CU RSO R
MASTER-1. JBS
ABCD-001 . JOB
SAMPLE-A .JOB
A-WORK
.JOB
MASTER-2. JBS
ABCD-002 . JOB
SAMPLE-B .JOB
B-WORK
.JOB
ABCD-003 .JOB
SAMPLE-C .JOB
RIGHT
.JOB
ABCD-004 .JOB
SAMPLED .JOB
LEFT
.JOB
Fig. 9. 7
(2)
W h e n the file menu of d a ta g ro u p s w ith d a ta an d file nam e m atching 1 - t o - l :
T h e menu will d isp la y all th e file nam es in the g rou ps, in dic ating w h e th e r o r not the files are
re g iste re d in th e floppy disk. (R egistered : # , n o t re g iste re d :
O)
R E G IST E R E D FILES
F L O P P Y — MEMORY
[ I / O SY ST E M D A T A ]
C D A TA
DAT
O CO N CU RR ENT I /O PROGRAM
WELD
C J B
•
I / O SIGNAL NAME
WEAV
DAT
•
INTERIO R D A T A
TOOL
DAT
O ABSOLUTE DATA
U F RAME
DAT
O SY ST E M IN FO RM A T IO N
[ O ] : DOES NO T EX IST IN T H E F L O P P Y DISK
—*■ C u rso r on th e file to tr a n s m it a n d push
Page i
[ E x e c u te ]
Page t
Abort
Fig. 9. 8
-
232 -
Execute
9. 6. 4 Related Jobs Save
W h e n saving jobs in a floppy disk, selection c a n be m a d e e ith e r to s a v e only d es ig n ated job s inde
pendently, or to sa v e r e la te d jobs, c o nd itio n d a ta , etc. sim ultaneously.
Select job to be saved in ad v a n ce by the following operation.
-(O p e ra tio n on O p e r a t o r ’s P anel)-
<Description>
Ü 1 OPt
*1
D e p re ss
B
D e p re ss
0P1
Floppy
Save
F1
F2
—=> Set required function.
Floppy
J
Tool
User coord
j
SPEC. P N T
j
SELECT JOB
OPTION
key.
and
soft keys.
F4
<1
FI
F2
F3
F4
F5
>
=> Cursor on data group to transm it and select the soft key.
Load
F1
<J
Save
F^
Verify
Formatting
F3
F4
Delete
F5
o
o
If
Page I
<1
FI
Paget
F2
C A N C E L SEL
F3
SELECT JOB
F4
A LL JOB
F5
a OP
□D
ALL JOB
F5
is d e p re sse d , all
re g is te r e d jo b s a re selected.
>
Select the job to be savd.
D e p re ss
1
SELECT
1
soft key.
fF 4 l
Page I
Page Î
Resume
SELECT
EXIT
T h e job at the c u r s o r is selected an d m a rk
added to the job.
F1
F2
F3
F4
F5
233 -
is
I
M aster job : SAMPLE-A. JBR
☆ABCD-001
. JBI
ABCD-002
.JBI
ABCD-003
SAMPLE-A .JBI
SAMPLE-B .JBI
SAMPLE-C ■JBI
A-WORK
B-WORK
RIGHT
.JBI
.JBI
☆ABCD-004
.JBI
.JBI
SAMPLE-D .JBI
LEFT
■JBI
.JBI
A fter com pleting the setting, d e p r e s s
1SELEC T I
I~rë1
Page i
<
I
Page Î
F1
F2
Resume
F3
SELECT
F4
soft key.
EXIT
F5 t>
L -( q\J
Execute
D e p re ss
i
«
soft key to s t a r t d ata
F5
: =>
Resume
Page Î
F1
F2
F3
Execute
F4
transm ission.
>
1 . W h e n th e all selected jo b s m u s t be cancelled, d e p r e s s
F o r canceling th e job a t th e c u r s o r , d e p r e s s
CANCE^CEL]
F3l
pesume
_
^
soft key.
2 . T h e total of s a v e d jo b s is 112 m axim um in one floppy disk.
(1)
W h e n s a v in g job in d e p e n d e n t l y :
D esignate the job nam e d isp lay e d
CU RSO R —
MASTER-1. JBS
-ABCD-001 .JOB
SAMPLE-A .JOB
A-WORK
. JOB
on CRT
by cu rso r.
MASTER-2. JBS
ABCD-002 . JOB
SAMPLE-B .JOB
B-WORK
. JOB
ABCD-003 .JOB
SAMPLE-C .JOB
RIGHT
.JOB
Fig. 9. 9 Job Name Specification
-
234 -
ABCD-004 .JOB
SAMPLE-D .JOB
LEFT
.JOB
(2)
W h en sa v in g re la te d j o b :
D esignate th e m a ste r jo b d isp lay e d on CR T by cu rso r.
M a ste r : S A M P L E - A . JOB
ABCD-001
ABCD-002
ABCD-003
ABCD-004
ABCD-005
SAM PLE-A
SAMPLE-B
SAMPLE-C
SAMPLED
SAMPLE-E
Fig. 9. 10 Master Job Specification
j ||J
The job registered in master job can save the related job simultaneously.
Therefore, when the related job is saved simultaneously, previously register the related job in master job.
A lw a y s v erify afte r s a v in g jobs.
9. 7 CHECKING TRANSMITTING STATUS
W h e n d a t a tr a n s m is s io n s ta r t s , tr a n s m ittin g s ta tu s can be m onitored by the s ta tu s d isplay
d u r in g tr a n sm issio n .
Remaining bytes show the capacity of memoried data.
But there is a little difference
between the displayed numeric value and the actual capacity of the job.
-
235 -
SECTION
10
DIAGNOSIS OPERATION
I/O status diagnosis and m otion/time confirmation for
reference
operation.
or servo system are possible
on
diagnosis
This section
d escribes e ach diagnosis display.
CO NTENTS
10
10. 1
10. 2
10. 3
10.4
10.5
10. 6
10. 7
10. 8
10. 9
PAGE
D I A G N O S I S O P E R A T I O N ........................................... 237
O P E R A T I N G T I M E D I S P L A Y .................................239
M O V I N G T I M E D I S P L A Y ...........................................240
I N P U T S T A T U S D I S P L A Y ....................................... 241
O U T P U T S T A T U S D I S P L A Y .................................... 242
DIRECT-IN S TA TU S D IS P L A Y ...................................... 243
S E R V O D I S P L A Y ............................................................ 244
P O W E R O N / O F F P O S I T I O N D I S P L A Y ................245
A L A R M H I S T O R Y D I S P L A Y ................................. 246
P O S I T I O N D I A G N O S I S D I S P L A Y .......................... 248
sasw
-
237 -
(E l
A t firs t, call up th e d ia g n o sis d isp lay .
(D e sc rip tio n )
D e p re ss
DISP
key.
D e p re ss
Diagnosis
soft key.
F4
T h e r e a r e eight diagnosis d isp la y s as follows.
Depress
£>
key to display soft keys c o r
responding these diagnosis displays.
★
D iagnosis d isp la y s
• O p e r a tin g tim e (par. 10. 1)
• M oving tim e (par. 10. 2)
• In p u t s ta tu s (par. 10. 3)
• O u tp u t s ta tu s (par. 10. 4)
• S ervo (par. 10. 5)
• P ow e r O N /O F F p o sitio n (par. 10. 6)
• A larm h is to ry (par. 10. 7)
• P osition (par. 10. 8)
-
238 -
10.1 OPERATING TIME DISPLAY
•
Calling u p o p e ra tio n tim e d isplay
f'
( O p e ra tio n on O p e r a t o r ’s Panel)'
(D e sc rip tio n )
D e p r e ss
<
F k
u
Alarm list
TRT sum
W ork hour
F3
F2
^
ON/OFF po s
F4
I
I soft key.
Work hour
Servo
F5
t>
o
The
’
C o n tro l p o w e r in p u t tim e
0 : 00'
i
0 : 00'
is
registered
ir
o
o
o
o
O p e r a tin g
date
Operating times is time during arc on for arc
welding.
tim e
0 : 00'
setting
00
S e r v o p o w e r in p u t tim e
P la y b a c k
initial
j
00
tim e
00
Fig. 10.1 Operating Time Display
• Initial tim e se ttin g
D e p r e ss
TEACH
key.
D e p re ss
EDIT
key.
IB ]
Place the c u r s o r on o p e r a tin g tim e to be set
by u sin g c u r s o r keys.
_
D e p re ss
-
239
I
Initialize
i F5 i
¡
soft key.
I
10.2
MOVING TIME DISPLAY
Moving tim e d isp lay sh o w s actual moving time of m a n ip u la to r w hile in te g r a tin g data.
T h is time c a n
not be re g is te r e d w hen w a itin g the in p u t signal in p la y b ac k or w h en sto p p in g the m a n ip u la to r in tim er
instruction.
Calling up m oving tim e d isplay
“
( O p e ra tio n on O p e r a t o r ’s P a n e l ) '
|TRT sum]
D e p r e ss
TRT S lim
W ork hout
Alarm list
ON/OFF pos
5^
—
I F2 I
soft key.
JJ
^
<l
F1
F3
F4
F5
I>
- y x —
O
*
The
initial
se ttin g
date
is
re g is te r e d
in
Mo vin g time
0
: 000
sec
Fig. 10. 2 Moving Time Display
D e p r e ss S T A R T button.
M oving tim e betw een moving s t a r t an d sto p is d i s
played w hile in te g r a tin g data.
T h e moving tim e in te r v a l is th e d ifference b e
tw een d isp la y tim e before s t a r t an d d is p la y time
a fte r stop.
T o s t a r t the m a n ip u la to r motion at m oving tim e 0 by initial setting, d e p r e s s
Initialize
F5
-
240 -
so ft key.
10.3
INPUT STATUS DISPLAY
E ith e r e x t e r n a l in p u t signal is in p u t (ON) o r not in p u t (OFF) is confirm ed in in p u t s ta tu s display.
• C alling up in p u t s ta tu s d isp lay
“ —
^ “ ( O p e r a tio n on O p e r a t o r ’s P a n e l)
È9]Ln J l« ][q h >
F4
X
F5
D>
o
Input group No. [IG #01]
Group
G ro u p -in p u t d isplay
S tatu s : 000 (Decimal) 00 (Hex)
Each S ta tu s : Input No. S tatu s N am e
ON OFF
IN #004
LZJ
□
□
CJ
IN #005
□
IN #001
IN #002
IN #003
IN #006
□
IN #007
□
IN #008
□
S ingle-input d isp lay
Fig. 10. 3 Input Status Display
B
Page i
Page 1
Depress
Page i
F1
F2
soft
The remaining input siganl status is shown.
-
241 -
key.
I
10.4
OUTPUT STATUS DISPLAY
O u tp u t s ta tu s set by o u tp u t in stru c tio n can be checked in th is display.
• Calling u p o u tp u t s ta tu s d isp lay
( O p e ra tio n on O p e r a t o r ’s P a n e l)
"
(D e sc rip tio n )
D e p re ss
Univ Output
F4
Output group No. [OGÿOl]
G ro u p - o u tp u t s ta tu s
Group
S tatu s: 000 (Decimal) 00 (H ex)
Each statu s : O utput No. S tatus
ON
OU T #001
O U T S 002
OU T #003
O U T # 004
OFF
!-□
!— ;
O U T #005
□
□
O U T #006
1— i
O U T #007
□
O U T #008
a ,
Single -output s ta tu s
Fig. 10. 4 Output Status Display
O u tp u t signal s ta tu s change
“ ( O p e r a tio n on O p e r a t o r ’s Panel)*
te!
■*
0
^
D e p re ss
TEACH
D ep ress
DISP
1
D e p r e s s d e s ire d s ta tu s-ch a n g e soft key, and
change
the status.
-
242 -
key.
soft key.
10.5
DIRECT-IN STATUS DISPLAY
In RIN (d ire ct-in ) in p u t s ta tu s dispaly, the confirm ation of w h e th e r the d ir e c t- in signal from e x te rn a l is
received (ON) o r not received (OFF) can be executed.
(D escrip tio n)
■(Operation on O p e r a t o r ’s P a n e l ) '
D e p re ss
RAPID IN
soft key.
F5
Page 1
<
F1
Page t
F2
Univ. In
F3
Univ.Out
R A P I D IN
F4
t>
o
R A P ID IN
No.
STA T U S
ON
R IN
R IN
R IN
R IN
# 001
#002
#003
# 004
NAME
OFF
■1
■
■
D IR E C T IN 1
D IR E C T IN 2
D IR E C T IN 3
E X T . H O LD
Fig. 10.5 Direct-in Input Status Display
0
3
10. B SERVO DISPLAY
F ee d b a c k p u lse an d s e rv o follow-up e r r o r p u lse for each ax is a r e d isp la y e d in se rv o display.
• C alling up se rv o d isp lay
( O p e ra tio n on O p e r a t o r ’s P a n e l) ■■■ —
—■ - v
= =>
Servo
W ork hour
j
TRT Sum
| Alarm list
ON/OFF pOS
j
D e p re ss
F5
soft key.
Servo
o
[Feedback pulse] [Servo e rro r pulse]
s
S
i
L
u
U
R
R
B
B
T
T
Fig. 10. 6 Servo Display
If a la r m 1390 (positioning e r r o r ) occ urs, check the se rv o follow-up e r r o r pu lse in th is display. S ervo
foliow -up e r r o r pu lse is th e ra n g e betw e en — 2 and + 2 in stop.
-
244 -
10.7
POWER ON/OFF POSITION DISPLAY
M a n ip u la to r c u r r e n t v alu es a t main po w er in te r ru p ti o n and at main po w er in p u t a re disp lay e d in this
display.
C alling up p o w e r O N /O F F position d isp lay
*
(O p e ra tio n on O p e r a t o r ’s P a n e l ) '
D e p r e ss
'
soft key
O
P o w e r < O F F > p o s . P o w e r< O N > p o s.
s
Lag
S
L
L
U
U
R
R
B
B
T
T
Fig. 10. 7 Power ON/OFF Position Display
If a larm 1290 o r 1291 (Allow able ra n g e e r r o r of a bsolute data) occurs, e r r o r v alu e of e r r o r ax is can be
checked.
6
-
245 -
3
10.8
ALARM HISTORY DISPLAY
T h e alarm h is t o r y d isp la y h a s th r e e displays for m ajor a l a r m s (10 alarm s), m inor a la r m s (10 alarm s) and
u s e r a la r m s (10 alarms).
E ach d isp la y sh o w s th e job name, ste p No., line No., y ea r, month, day, h o u r
and m inute for a alarm.
•
Calling a larm h is t o r y d isp lay
■(Operation on O p e r a t o r ’s Panel)-
(D e scription)
I Diagnosis j
D e p r e ss
C>
T hen, d e p r e s s
_
De p r e s s
<
TRTsum
F1
key and
I D iagnosis |
key.
tw ice
Work hour
DISP
Alarm list
F3
—
P2
0N/0FFpos.
I
F4
Alarm list
—
—
F3
soft
F4
key twice.
,
s o f t key.
Servo
F5
f>
D e p r e ss soft key to d isp la y alarm to be d is p l a y
ed.
MAJOR ALM
MINOR ALM
User
T h e selected d is p la y w ill a p p e ar.
D is p ch g
----------------------- ----<l
F1
F3
F2
F4
F5
MAJOR A LM
,------- ,
o
soft key.
F1
M A JO R A L A R M
ALARM
JO B N A M E
S TE P
L IN E
DATE
T IM E
09 : 30
l
0060
S A M P L E -1
0001
0001
1989/05/12
2
0013
S A M P L E _2
0013
0298
1 9 89/05/13
10 : 50
3
0022
SA M PLE_3
0003
0045
1989/06/20
09 : 23
4
0120
S A M P L E _4
0123
0013
1989/06/21
10 :: oi
5
6
7
8
9
Detailed
content
^
of alarm code
10
^ A L A R M 0060 : D E S T R O Y E D JO B D A T A
Fig.
10.
8
M a jo r A larm History D is p la y
-
246 -
|MINOR ALM l
^
soft key.
M IN O R A L A R M
ALARM
JO B N A M E
S TE P
L IN E
DATE
T IM E
09 : 30
l
1290
SA M PLE_1
0001
0001
1989/05/12
2
1000
SA M PLE_2
0013
0298
1989/05/13
10
3
1000
S A M P L E _3
0003
0045
1989/06/20
09 : 23
4
1020
SA M PLE_4
0123
0013
1989/06/21
lo : oi
DATE
T IM E
: so
5
6
7
8
9
10
• A la rm 1290 : O U T O F R A N G E (A B S D A T A )
Detailed
content
of alarm code
Fig.
10.
9
M inor Alarm History Display
User
so ft key.
F3
USER ALARM
ALARM
JO B N A M E
S TEP
L IN E
1
2020
S A M P L E _1
0001
0001
1989/05/12
2
2040
SA M PLE_2
0013
0298
1989/05/13
o
3
2080
SA M PLE_3
0003
0045
1989/06/20
09 : 23
4
2030
S A M P L E _4
0123
0013
1989/06/21
io : oi
09 : 30
o
LO
5
6
7
8
9
10
Detailed _ J ^ A l a r m 2020 : F A U L T Y S E R V O P A C K [S L U R B T ]
content
of alam code
Fig.
10. 10
U ser Alarm History Display
C
1.
F o r d is p la y in g detailed c o n ten ts of each alarm , set the c u r s o r at th e d e s ire d
ala rm code by u sin g c u r s o r keys.
T h e c ontents a re d isp la y e d at th e bottom of
the CRT display.
2 . C lea rin g of a larm h is to ry !
D e p r e ss
soft key.
edit
key d u r in g a larm h is to ry d isp lay and d e p r e s s
Now, the h is to ry is cleared.
-
247 -
Initialize
F5
9
10.9
POSITION DIAGNOSIS DISPLAY
T h e detailed c o n ten ts of se rv o system s ta tu s d isp la y e d in th is display.
• Calling up po sition dia g n o sis d isplay
★
Meaning of each signal
© E R R O R P U L SE
.............. S ervo e r r o r pu lse of each axis
© S E G M E N T PULSE
.............. R eference valu e fo r e a c h u nit of tim e
© P O S I T I O N TAG
.............. T a g s ta tu s u sin g in te r n a l op era tio n
© M O T O R POSITION
.............. Motor position of w r i s t (same value as feedback)
© R EM AIN DER
.............. O ffset o p e ra tio n s ta tu s of w r i s t
© P R E S E N T POSITION
...............C u r r e n t value (pulse)
© F E E D B A C K P U LSE
...............F ee d b a c k pu lse value
© P O S I T I O N (XYZ)
...............C u r r e n t value (XYZ)
© D IS P L A Y CONTROL
...............C o ordinate system of c u r r e n t value (XYZ)
-
248 -
APPENDIX
A ppendix describes the different points between controller
YASNAC RX and YASNAC ERC, such as robot language,
error message, exam ple of instruction using, calibration
function, etc.
APPENDIX ..................................................................................................... 250
A1.
A1. 1
A1. 2
A1. 3
A2.
A3.
A3. 1
A3. 2
A3. 2. 1
) ...................................................................................................... 281
A3. 2. 2
Operating Example of NWAIT in MOVE Instruction (MOV
A3. 2. 3
Selection of Speed Specification ..............................................................283
A3. 2. 4
Selection of Positioning L e v e l..................................................................... 284
MOVE Instruction for Specified Distance (Linear Operation)............ 285
A3. 2. 6
Setting of Working Times (Utilization of byte variable) ..................... 286
A3. 2. 7
Job Selection by Pattern Input..................................................................... 287
A3. 2. 8
Example of TOP and ADV in Jum p/Call Instruction............................ 290
A3. 2. 9
POSITION MONITORING FUNCTION BY FEEDBACK PULSE .......... 291
A3. 2. 10
FREE CURVE INTERPOLATION F U N C TIO N ........................................... 295
A3. 2. 11
Parallel Shift Function for Manipulator with 6 A x e s ............................ 298
A3. 2. 12
Parallel Shift Job Conversion Function ...................................................307
A3. 2. 13
External-axis Block Function.........................................................................313
A8. 2
INSTRUCTION FOR SPECIAL LINEAR
INTERPOLATION (SPECIAL LINEAR)........................ 377
ALARM CODE .................................................................... 377
SETTING METHOD OF SPECIAL LINEAR..................... 379
COMPARISON OF YASNAC ERC AND YASNAC RX -382
COMPARISON OF OPERATIONAL FUNCTION............. 382
COMPARISON OF INSTRUCTION................................... 384
SOFT KEY TREE ............................................................... 385
for Interpolation Operation near S-axis Rotation Center .......... 376
A8. 3
A8. 4
A9
A9. 1
A9. 2
A10
A10. 1
A10. 2
DISPLAY
Position Correction Function During Playback
(Effective from V4.20) ............................................................................ 317
Data Save/Verify Function During Playback
Production Control Diagnosis Display Function
DISPLAY .......... 391
A10. 4
DISPLAY
...... 394
A10. 5
WHERE ( l o r l KEY IS DEPRESSED IN VARIABLE
-------DISPLAY
.......394
A10. 6
WHERE I o n
KEY IS DEPRESSED IN POS EDIT
DISPLAY
...... 395
A10. 7
WHERE f l ^ l KEY IS DEPRESSED IN WEAVING
1------ 1
DISPLAY
...... 396
A10. 8
WHERE (1^71 KEY IS DEPRESSED IN UNIV. OUT
-----DISPLAY ..... 396
A10. 9
WHERE
KEY IS DEPRESSED IN WORK HOUR
DISPLAY ..... 396
A10. 10
WHERE
KEY IS DEPRESSED ........................................... 397
A10. 11
WHERE § = ! KEY IS DEPRESSED •
A10. 12
WHERE
(Effective from V 4 .2 0 )............................................................................ 327
A3. 2. 17
A3. 2. 18
Tool Angle Indexing Function (Effective from V4.20) .........................330
External Axis Endless Rotation Function
(Effective from V 4 .2 0 )............................................................................ 335
A3. 2. 19
Shift Amount Creation Function (Effective from V4.20) ..................... 342
A4.
A 4.1
A4. 2
TO O L C O N STA NT CALIBRATION FUNCTION................. 351
MEANING OF TO O L C ONSTANT ...................................... 351
DESCRIPTION OF TO O L DATA ......................................... 351
A4. 2. 1
Setting of Calibrating Tool D a ta ................................................................. 352
A4. 2. 2
Setting of Reference Point............................................................................ 355
A4. 2. 3
Setting of Standard/Multiple Tool D a t a ...................................................357
A4. 3
A4. 4
A4. 5
A5.
A 5 .1
A5. 2
A5. 3
MOVEMENT OF MANIPULATOR AFTER SETTING
TOOL D A T A ..................................................................359
NOTE FOR INTERPOLATION OPERATION .................. 359
TOOL FILE STORING......................................................... 360
USER COORDINATE FUNCTION...................................... 361
USAGE OF USER COORDINATES................................... 362
DEFINITION OF USER COORDINATES........................... 363
USER COORDINATES SETTING......................................364
A5. 3. 1
User Coordinates Setting ............................................................................ 364
A5. 3. 2
User Coordinates Deleting............................................................................ 366
-
...... 390
A10. 3
(Effective from V 4 .2 0 )............................................................................ 324
A3. 2. 16
Adding SPECIAL (Special Linear) to Move Instruction
) .......... 282
A3. 2. 5
A3. 2. 15
A8. 1. 1
A5. 5
A6
A7
A8
Operating Example of Until Statement in MOVE Instruction
(MOV
A3. 2. 14
A8. 1
CONFIRMATION OPERATION OF DEFINITION POINT
ON USER COORDINATES ......................................................367
RESET OF USER COORDINATE SETTING MODE ..........368
SETTING CUBE INTERFERENCE A R E A ................................ 369
ALARM DISPOSITION DURING OPERATION ..................... 374
ADDITIONAL OPERATION OF MANIPULATOR
MOVE V .................................................................................................. 375
ALARM AND DISPOSITION ............................................................. 375
A5. 4
ROBOT LANGUAGE "INFORM" ......................................... 250
LIST OF INSTRUCTIONS ..................................................... 250
USER VARIABLES.................................................................... 257
SYSTEM VARIABLES ........................................................... 258
ERROR M ESSAGE ................................................................. 260
EXAMPLE OF INSTRUCTION U S IN G ................................ 280
INSTRUCTION STRUCTURE ............................................... 280
PROGRAMM ING TECHNIC .................................................. 281
--------
249 -
KEY IS DEPRESSED ■
A1. ROBOT LANGUAGE “INFORM”
A1. 1 LIST OF INSTRUCTIONS
NOTATION -------------------------------------------------------
S e tti n g
2.
3.
______
<
>
S e le c tio n
range
item
S pecificatio n
( S e le c t
part
-
by
one.)
user
250 -
Table A1. 1 Move
I n s tr u c ti o n
Instructions
Function
Format
MOVJ
(Move,
Jo in t)
Moves to the teach
poin t by j o i n t i n t e r
p o la tion .
(VJ=0. 001 to 100. 00% ]
[PL=0 to 4 )
MOVJ<PositionXExt. axis
position)
VJ=<L ink speed>
PL=<Pos i t ion i ng le vel),
<CONT><UNTIL sentence)
<NWAIT>
MOVL
(Move,
L inear)
Moves to the teach
po in t by l i n e a r in
te r p o l a tio n .
(V=0.1 to 1200.00mm/s)
[VR=0.1 to 180.0° / s )
(VE=0.001 to 100.00% 3
MOVC
(Move,
C i r c u la r )
MOVS
REFP
(Reference,
P o int)
SPEED
IMOV
(Incrément,
Move)
MOVL<Position)<Exit. axis
p o sitio n)
V=<Speed>
VR=<Wrist o r i e n t a t i o n
speed)
VE=<Ext. ax is speed)
PL=<Positioning le v e l),
<C0NT> <UNTIL
SentenceXNWAIT)
Examp 1e
MOVJ(EX)
VJ=64.5 PL=2
UNTIL IN#16=1
NWAIT
M0VL(EX)V=120. 0
PL=2
UNTIL
IN#16=1
NWAIT
Moves to the teach
p o in t by c i r c u l a r in
MOVC<PositionXExit. axis
p o sitio n)
V=<Speed>
speed)
VE=<Ext. a x is speed)
<C0NT> <NWAIT)
Moves
p o in t
MOVS<PositionXExt. ax is
p o s it io n ) ,
V=<Speed>
speed)
<C0NT> <NWA1T)
MOVS V= 120.0
REFP<PositionXExit. ax is
<No. >
p osition)
♦
(Wall p o in t 1 of
weaving=l, Wall point
2 of weaving=2]
REFP1
Wall
Speed
to
by
p o in t
data
the teach
p a r a b o lic path.
of
weaving
SPEED
V=<Speed>
speed)
VJ=<Link speed),
se ttin g
IMOV P<Variable No.)
RF, TF, UFfKUser frame No. )
RF: Robot coord.
TF: Tool coord.
UF#: User coord.
EX<Variab 1e No. >
V=<Speed>, VR=<Wrist
o r i e n t a t i o n speed)
PL=<Pos i t ion ing le v e l)
<UNTILXNWAIT)
Moves s p e c if ie d in c re
ment from c u r r e n t
p o s i t i o n by lin e a r in
-
251 -
MOVC V=120.0
NWAIT
SPEED VJ=50.00
V=250. 0
VR=45. 0
IMOV P012
V=120.0
I
Table A1. 2
Instructions
Function
Instruction
DOUT
( D ig ita l,
Out)
I/O
Output
turned
Format
DOUT OTKOutput No. >
0G#<0utput No. >
<Status>B<Variable No. >
r e la y is
ON/OFF.
[ S ta tu s :
0=0FF,
PULSE OTKOutput
T=<Time>
PULSE
DIN
( D ig ita l,
In)
P ulses
output
Input
a r e output
relay.
sig n a l
is
Example
to
1=0N ]
No. >
(oA
to 3.0s )
Note: If no s p e c i f i c a
tion, 0 .3 s is se t.
DIN BCVariable No. >
INKInput No. >
(1 to
IG#<Input group No. >
(1 to
OT#XX:Univ. Output (1 to
OG#XX:Univ. Output group
(1 to
SIN#XX: spec ia 1 input
(1 to
S0T#XX: spec i a 1 output
(1 to
read.
WAIT
Waits u n t i l input
r e la y co in cid e s
w ith s p e c if ie d
status.
WAIT INfKInput No. >
<Status>B<Variable No. >
T=<Time>
AOUT
(Analog,
Out)
Voltage s e t t i n g
value is output
to g en eral-purpose
output port.
AOUT AOiKOutput
<Voltage output
POSOUT
(P o sitio n ,
Out)
Any teaching p o s i t i o n is
regarded as a .monitor
ing p o s it io n . When t h i s
i n s t r u c t i o n is excuted,
the s p e c i f i e d u n iv e rsa l
POSOUT PM# <Data
output (no robot i n t e r
No. for p o s i t i o n
feren c e s i g n a l ) is
ing)
turned on.
If the manip
(1 to 8}
u l a t o r is moved from
the m onitoring p o sitio n ,
the output is turned off
a u to m atica lly .
NWA1T
(No, Wait)
DOUT OT#12=1
(DOUT 0G#02=24)
♦
(-14. IV
Next i n s t r u c t i o n s t a r t s
befo re completing the
MOVE i n s t r u c tio n .
to
252 -
OT# 10T=0. 6
96)
12)
64)
DIN B16 IN#16
(DIN B02 IG#02)
4)
40)
80)
p o rt No. >
v alue)
WAIT IN#12=1
T=10. 0
(WAIT IN#12=B02)
AOUT A0#1
12.7
+14. OV)
file
m onitor
MOVL <Position>
<Ext. p o s i t i o n )
V = <Speed>
NWAIT
TIMER T = <Time>
-
PULSE
POSOUT
PM#01
MOVL V =100.0 NWAIT
TIMER T =0. 5
DOUT OT #01 = 1
Table A1. 3
I n s tr u c ti o n
Function
Jumps
label
JUMP
*
( A s te r is k )
to
or
Call
job.
RET
(Return)
up
s p e c if ie d
job.
END
End
NOP
No
of
jump
s p e c if ie d
Returns to
c a lle d job.
Instructions
Format
Label in d ic ated
p o s it io n to be
CALL
IF
Control
the
job
op era tio n
Example
JUMP<Label No. >
<Job name>
B<Variable No. ><IF syntax)
JUMP JOB:HARA
IF IN#14=0
*<8 c h a r a c t e r s
(ha I f - s i z e ) >
*123
CALL JOB:<Job name>
IGfKInput group No.)
B<Variable No. ><IF syntax)
CALL JOB:ABC123
IF IN#24=1
RET<IF
RET
syntax)
END
END
NOP
NOP
IF
IN#12=0
TIMER
Manipulator stops
during s p e c i f i e d time.
TIMER T=<Time>
I
CO. 01 to 327.67s )
TIMER T=12. 5
CWAIT
Waits the execution
of move in s t r u c tio n .
CWAIT
CWAIT
A variety
c o n d itio n s
determined.
< I n s tr u c t ion)
IF<Comparison element
=, < >, <=, >=, <, >
C om parison element)
Syntax
of
are
1)
JUMP
#12IF
UNTIL
Input c o n d itio n is
determined during
op era tion.
<I n s t r u e t ion) UNTIL
IN#<Input No. >=<Status>
♦
(status:0=0FF,
1=0N ]
MOVL V=300
IN«10=1
PAUSE
Temporary
stop
PAUSE
PAUSE
STOP
S erv o -o ff
stop
STOP
Table A1. 4
Instruction
<IF
<IF
Shift
syntax)
syntax)
Starts the
operation.
SFTOF
(Shift, Off)
Stops the
operat ion.
IF
shift
-
IN#12=0
IN#12=0
Example
Format
shift
UNTIL
Instructions
Funct ion
SFTON
(Shift, On)
STOP
IF
IN#12=0
SFTON P<Variable No.)
RF, TF, FU#<User frame
No. )
fRF:Robot coordinate',
TF:Tool coordinate
l-UF#:User coordinate^
EX<Variable No. >
SFTON
SFTOF
SFTOF
253 -
P12
Table A1. 5
In stru ction
Operating
Function
Instructions
Format
Examp 1e
ADD
Adds two data,
and
s t o r e s the r e s u l t in
data 1*.
ADD<Data lX D a ta 2>
ADD
112
113
SUB
S u b tra c ts between two
data,
and s t o r e s the
r e s u l t in data 1*.
SUB<Data lX D a ta 2>
SUB
112
113
M u lt ip lie s two data,
and s t o r e s the r e s u l t
in d ata 1*.
MUKData lX D a ta 2>
MUL
112
113
Divides two data,
s t o r e s the r e s u l t
d a ta 1*.
DIV<Data lX D a ta 2>
DIV
112
113
#M U L
•
•
INC
Adds one
t e n t s of
v a r ia b le .
DEC
and
in
to the con
s p e c if ie d
INC
B<Variable
K V a ria b le
No. >
No. >
INC
143
S u b s tr a c t s one from the
c o n te n ts of s p e c if ie d
v a r ia b le .
DEC B<Variable
K V a ria b le
No. >
No. >
DEC
143
AND
C a lc u la te s AND between
two s p e c if ie d data,
and
d ata 1.
AND B<Var iab 1e
B<Variable
No. >
No.>
AND Bll
OR
C a lc u la te s OR between
two s p e c i f i e d data,
and
d ata 1.
OR B<Variable
B<Variable
No. >
No. >
P o s it io n-ty pe v a r i a b l e s (element s p e c i f i c a t i o n ) is s p e c if ie d
D1V in s t r u c t i o n s .
OR B12
B20
B20
i n <Data 1> of MUL and
•
In stru ctio n
F u n d ion
MUL
M u lt ip lie s
data,
and
r e s u l t in
DIV
Divides two items of
data,
and s t o r e s the
r e s u l t in d ata 1 *.
Format
two items of
s t o r e s the
d ata 1 *.
The element of p o s i t i o n - t y p e v a r i a b l e s
Pxxx(O) .................... All a x is data
Pxxx(l) .................... X-axis d ata
Pxxx(2) .................... Y-axis d ata
Pxxx(3) .................... Z-axis data
MUKData lX D a ta 2>
MUL P000(3)2
(P000=(Zdata)*2)
DIV<Data lX D a ta 2>
DIV P000(3)2
(P000=(Zdata)/2)
is as follows.
Pxxx(4) .................... Tx data
Pxxx(5) .................... Ty data
Pxxx(6) .................... Tz data
*Data 1 should be v a r ia b le s .
-
Example
254 -
Table A1. 5 Operating
Instructions
(Cont'd)
I n s t r u c t ion
F u n d ion
Format
NOT
C a lc u la te s NOT between
two s p e c if ie d data,
and
data 1.
NOT EKVariable
EKVariable
No. >
No. >
NOT B12
B20
XOR
C a lc u la te s XOR between
two s p e c if ie d data, and
s to r e s the r e s u l t in
data 1.
XOR B<Variable
BcVariable
No. >
No. >
XOR B12
B20
SET
Sets
fie d
SET <Data lX D a ta 2>
SET
112
SETE
Sets the data in
elements of p o s it io n
type v a r ia b le .
data 2 in s p e c i
variable(data 10
Example
SETE
GETE
CNVRT*
*
P<Variable No. >
(<E 1emen t N o .»
EX<Var iable No. >
D<Variable No. XDoublep r e c is io n in te g e r No. >
112
E x tr a c ts the elements
of p o s i t i o n type
v a ria b le .
GETE D<Var iab 1e No. >
P<Var iable No. >
(<E 1emen t N o .»
EX<Var iab 1e No. >
Converts p u lse -ty p e
p o s i t i o n v a r i a b l e s or
system v a r i a b l e s to
c a r t e s i a n data of each
c o o rd in a te system.
When
co ordinate
d e s ig n a tio n is omitted,
conversion is performed
by the job coordin ate
under execution
(normally base
co o rd in a te).
CNVRT P V a r i a b l e No.)
P <Var iab le No. >
BF, RF, UF# <User frame No.)
BF : Base co ordinate
RF : Robot coordinate
UF#: User coordinate
: When the robot system v a r i a b l e s
to c a r t e s i a n data,
a coo rd in a te
( E f f e c tiv e from V4.20)
-
( c u r re n t value,
referen c e
to convert the value can
255 -
SETE
P012(3)
GETE
D06
D05
P012(4)
CNVRT POOO
$P13 BF
p o in t) are changed
be sp e c ifie d .
Table A1. 6 Working Instructions for Welding
Format
Function
Instruction
CLEAR
Example
• Data are c lea re d on v a r ia b le
data s p e c if ie d a t Tag 1 and
onward. The clea re d number
is the s e t t i n g number in Tag2.
• When ALL is s e t in Tag 2,
a l l v a r i a b l e s follow ing the
s p e c i f i e d v a r i a b l e in Tag 1
are cleared.
•When STACK is s e t at Tag 1,
a l l job cal 1 sta c k s are
cleared .
CLEAR B<Var iabI e
K V ariab le
D<Variab 1e
R<Var iab 1e
STACK
<Number data>,
C a lc u la te sin e of Data 2, and
s t o r e the r e s u l t in Data 1.
SIN<Data lX D a ta 2>
SIN R00 R01
(R00=SINR01)
No.
No.
No.
No.
>
>
>
>
CLEAR BOO ALL
CLEAR STACK
ALL
•
SIN
(Sine)
•
COS
(Cosine)
C a lc u la te cosine of Data 2,
and s t o r e the r e s u l t in Data 1.
C0S<Data lX D a ta 2>
COS R00 R01
(R00=C0SR01)
•
ATAN
(Tangent)
C a lc u la te tangent of Data 2,
ATAN<Data lX D a ta 2>
ATAN R00
C a lc u la te square root of Data 2,
SQRT<Data lX D a ta 2>
SQRT R00 R01
(R00=/RÖT )
ARCON
(Arc on)
Outputs
arc
ON
ARCON
ARCON
ARCOF
(Arc o f f )
Outputs
arc
OFF
ARCOF
ARCOF
SQRT(V )
(Square ro o t)
in s t r u c tio n .
in s t r u c tio n .
R01
VWELD
Outputs the v olta g e
i n s t r u c t i o n fo r welding.
VWELD<Voltage
i n s t r u c t i o n value>
(-14. IV to + 14.0V]
VWELD 2 .5
AWELD
Outputs the c u r r e n t
in s t r u c t i o n fo r welding.
AWELD<Current
in s t r u c t i o n value>
(-14. IV to + 14.0V)
AWELD 12
WVON
(Weave On)
S t a r t s the
o p eration.
WV0N<File
WVON 12
WVOF
(Weave Off)
Stops
the
weaving
weaving operation.
No. >
WVOF
WVOF
For these four in s t r u c t i o n s , the o b je c t of the a r it h m e ti c c a l c u l a t i o n is only
r e a l - t y p e v a r i a b l e s (R) and constant.
Table A1. 7
Instruction
(Apostrophe)
Others
Instructions
Function
The
element
describing
the
partial
contents
Format
of
jobs,
can be
registered.
<32
characters
(hal f-s ize) >
-
256 -
Example
max.
-
A 1. 2 USER VARIABLES
T h e u se r v a r ia b le s a r e used for te m p o r a r y storage of counter, o peration, in p u t signals, etc.
ab les r e ta in the c on tents even if the pow er is cut off.
T h ese v a r i
Define the usage of v a r ia b le by user.
E xam ple of usage
C ontrol for n u m b e r of w o rk s
Be s u r e to p erfo rm th e initial se ttin g before
using.
C ontrol for n u m b e r of w o rk in g tim es
In fo rm a tio n d elivery b e tw e e n jobs.
•
W h e n m any jobs a re created, d eterm ine the
usage of variables.
V a r ia b le type
1 . Integer ty p e :
I (00 to 99)
U sab le v a r ia b le s
S to ra b le ran g e
2 . D ouble-precision integer t y p e :
S to ra b le ra n g e
3 . Real ty p e :
- 3 2 7 6 8 to + 3 2 7 6 7
D 00 to 99
------------------------
100 v a r ia b le s from D00 to D99
---------------------------
- 2 1 4 7 4 8 3 6 4 8 to + 2 1 4 7 4 8 3 6 4 7
R (0 0 to 99)
4 . Byte ty p e :
100 v a r ia b le s from 100 to 199
----------------
100 v a r ia b le s from R00 to R99
—
- 1 . 7 0 1 4 1 E + 3 8 to 1 .7 0 1 4 1 E + 3 8
-------
B (0 0 to 9 9)
100 v a r ia b le s from B00 to B99
—
0 to 255
-------
T h is v a r ia b le is use d for s to r in g I / O s ta tu s, and can be executed by logical op era tio n . F o r sto r in g I /O
s ta tu s, th e r e a re tw o t y p e s :
• Single I / O (Setting valu e is 0 o r 1 .)
• G ro u p I / O (One g ro u p is 8 points.)
-
257 -
A 1. 2 USER VARIABLES (Cont’d)
5 . Position type (Robot ax is):
P (00 to 63)
Usable variables-------------
64 variables from POO to P63
T h is v a r ia b le h a s enough a r e a to sto r e the six elem ents w hich indicate m a n ip u la to r position and w ris t
o rientation.
Set e ith e r jo int co o rd in a te s (pulse position) o r r e c ta n g u la r coordinates.
F o r shift in stru c tio n s, set r e c ta n g u la r co o rd in a te s b ecause ele m e n t d a t a can be sto re d a s incre m en tal
valu es (shift data) for each element.
6 . E x te rn a l position ty p e (E x te rn a l a x i s ) :
U sab le v a r i a b l e s -------------
EX (0 0 to 63)
64 v a r ia b le s from EX00 to EX63
E ach v a r ia b le h a s sto ra g e a r e a for a n u m b e r of e x te r n a l axis.
F o r no rm al e x te r n a l axis, each piece of e le m e n t d a ta is set as pu lse position.
F o r e x te rn a l axis, form ing base coo rd in a tes, s e t as position d a t a in r e c ta n g u la r coo rd in a te sy ste m .
T h e s e position d a t a a r e also used a s shift d a t a of e x t e r n a l axis.
A 1. 3 SYSTEM VARIABLES
T h e sy stem v a r ia b le s can be r e f e r r e d by specified in s tru c tio n s in jo b (o p eratin g program ).
ca n n o t be chan ged by u s e r bec au se it is controlled by the system.
T h e ty p e an d m eaning of the v a r ia b le s a re determ in e d by the sy stem .
S ystem v a r ia b le ty p e
1 . P osition ty p e
POO: C u r r e n t p o sitio n s (pulse type) of ro b o t axis a r e stored.
P 0 1 : C u r r e n t p o sitio n s (XYZ type) of ro b o t axis a r e stored.
2 . E x te rn a l axis position type
T h is v a r ia b le is used only for ad d in g the e x te r n a l axis.
SXE00:
C u r r e n t positions (pulse type) of e x te r n a l axis a r e stored.
-
258 -
However, it
(D isp lay M ethod of B y te -ty p e sy stem v a ria b le s )
(D e scrip tio n )
D ep ress
D ep ress
D epress
DISP
| Diagnosis
soft key.
1 F4 j
[>
key fo u r times.
_
S-variable I
, ,
D e p r e ss — . ^ .— soft key.
T h e d isp lay for list of b y t e - t y p e v a r ia b le s will
appear.
T h ese d a ta a re only r e feren c ed and
it can not be altered.
-
259 -
I
A2. ERROR MESSAGE
E r r o r m a s s a g e s a r e classified fo r e a c h g ro u p of e r r o r Nos.
T a b le A 2 . 1 C lassification of Error M e s s a g e s
C lassification of E r r o r M e ssag e s
G rou p of E r r o r No.
Oxxx
S y stem an d o p e ra tio n ( T a b le A2. 2)
lxxx
E diting ( T a b le A2. 3)
2x x x
Jo b re g is tra tio n ( T a b le A2. 4)
3xxx
T e a c h p e n d a n t o p e ra tio n ( T a b le A2. 5)
4xxx
F lo p p y disk o p e ra tio n ( T a b le A2.6)
—
5xxx
6x x x
C o n c u rre n t I / O editin g ( T a b le A2. 7)
7xxx
—
8x x x
—
9xxx
S y ste m (softw are) e r r o r ( T a b le A2. 8)
-
260 -
Table A 2. 2 Error Messages for System and Operation
Causes
M essage
E rr o r No.
0010
T u r n on th e servo-on key.
Servo p o w e r not supplied
0020
D epress P L A Y m ode key.
O ut of specified m ode o p eration
0030
Depress T E A C H m o de key.
Out of specified m ode op era tio n
0040
T r y H O M E C A L IB R A T IO N .
H o m e position no t set.
0050
S ta r t from T E A C H P E N D A N T .
S ta r tin g a v a ila b le only fo r te ac h
pen d a n t
0060
R e lease softlimit.
Soft limit no t reset
0070
N o t co m pleted (current position)
C u rren t value not c r e a te d
0080
N o specified axis
(basic axis)
W h e n se ttin g the p a ra m e te r, an e x te r n a l
0081
ax is w hich does not ex ist in b lo c k -a x is
N o specified ax is
se ttin g p a r a m e te r is set.
T o ta l che ck e r r o r of la dd er
0090
0100
L a d d e r d a t a a re fault.
in te rm e d ia te code
C heck p e rm itted conditions of
—
s t a r t operation.
0110
L oading fro m floppy disk
—
0120
On initailization
—
-
261 -
E r r o r No.
0130
C auses
M e ssa g e
O V E R R ID E c a n n o t e x e c u te in D R Y
O v errid e speed c a n n o t be set
R U N MODE.
by th e o p e r a t o r ’s panel.
U ndefined m a n ip u la to r position
P o sition ty p e v a r ia b le c a n n o t
variable.
be used.
0140
—
0150
—
W hile th e E N A B L E key la m p is lit,
0160
O p e r a tin g fro m T E A C H P E N D A N T .
editing or s t a r t fro m o p e r a t o r ’s
p a n e l c a n n o t b e ex ecuted.
—
0170
U ndefined U S E R F R A M E F IL E
0180
U nd efined poin ts (OGR, XX, XY)
ORG,
X X a n d X Y po in t on user
c o o rd in a te s n o t ta u g h t.
M o v e th e m a n ip u la to r a t the ta u g h t
E x te r n a l a x is position w a s c h a n g ed
d u rin g te a c h in g th r e e basic points
0190
ste p pos. (E X T AXIS)
on user co ordinates.
0200
U n d e r tr a n s m itti n g d a t a
—
0210
E x te r n a l S E R V O -O F F signal is in.
—
0220
E x te r n a l inhibit M o de -c hange
—
signal is on.
E x te r n a l inh ib it-S ta rt signal
—
0230
is in.
S e r v o p o w e r is tu rn in g on w h en
P u sh the S E R V O -O F F b u tto n
th e c o m p ila tio n of c o n c u r re n t
0240
befo re th e operation.
0250
1 / 0 is ex ecuted.
T h e C. 10 p r o g r a m do es n o t run.
-
262 -
—
Table A2. 3 Error Messages for Editing
M assage
C au ses
0260
Same position in the
FRAME.
3 points for U se r
0280
D iffe re nt Tool betw een prog, and c u r r e n t
Tool.
0290
Selecting disa b le M A STE R JOB CHANGE
MODE.
A t teach condition display, the se ttin g of
m a s te r job a lteratio n should be on p e r
mission (OFF).
On in h ib it-in itia liz atio n .
T h e p a r a m e te r of concerned in te g ratin g
time is set on initialization prohibit.
Selecting d isa b le in CHECK MODE.
T he concerned o p era tio n is set to p e r m i s
sion ( 0 ) at p la y b a c k condition display.
0310
0320
W h e n r e g is te r in g th r e e basic points
(ORG, XX, XY) of u s e r coo rd inates, the
same p ositio ns a re reg istered .
When deleting (altering) MOVE instruction,
the numbers shown below are not matched.
• Registered tool No.
♦ Tool No. selected in teach pendant_____________
S electing
MODE.
d isa b le
in
MACHINE
0330
LOCK
Selecting
MODE.
d isa b le
in
M-JOB
0340
0360
Not com pleted to check the SPECIFIED
Point.
P erfo rm the check o p era tio n of the SPEC
PNT (second home position).
1010
E dit-lock mode.
E d iting prohibition
1020
E n te r c o r r e c t value.
In co rre ct input d a t a w a s set.
1030
U n a u th o r iz e d ID num ber.
O P2 k ey o p era tio n n o t possible
In p u t th e valu e w ith eight
L ac k of n u m b e r of in p u t d a t a
digits.
digits
CALLING
1040
-
263 -
E r r o r No.
M e ssag e
Causes
Im possible a lte r n a tio n du e to
C ha nge of jo b n a m e rese rv e d by
sy stem reserved.
the sy stem n o t possible
1050
1060
N o t a v a ila b le to ch a n g e
—
TR T -T IM E .
Illegal c h a r a c t e r in message.
W h e n r e g is te r in g U s e r a la r m messages,
u n u s a b le c h a r a c t e r s as m essages are
tr ie d as k e y - i n p u t s to reg ister.
1080
When completing welder condition file setting,
the check is performed for number of set data
( 3 or more) and the contents. If there is an
error, this alarm will occur.
Illegal D A T A in the file.
1090
-
264 -
Table A 2. 4 Error Messages for Job Registering
Massage
Causes
N o t eno ugh m e m o ry available.
L a c k of job re gistering m e m ories
2011
N o t enoug h m e m o ry available.
L a c k of instruction file m e m o ries
2012
N o t e n oug h m e m o r y available.
L a c k of position file m e m o ries
2020
T h e JO B w ithin the p r o te c t a r e a
JO B block editing prohibit
for edit.
2021
T h e JO B w ithin the p r o te c t a r e a
JO B editing proh ib it
fo r edit.
2030
D u plic ate d jo b n am e.
T h e s a m e n a m e a lre a d y registered.
2040
U ndefined job.
N o specified job
2041
U ndefined job.
N o specified job block
2050
E n te r jo b n a m e to edit.
JO B fo r editing n o t specified
2060
E n te r jo b n a m e to op erate.
JO B to be e x e c u te d n o t specified
M o v e th e m a n ip u la to r a t th e ta u g h t
2070
2080
2090
W h e n M ove in struction is erased,
c u r r e n t ro b o t position and
step pos. exactly.
te a c h in g position do n o t coincide.
N o c o m m a n d is a c c e p ta b le w ithin
In c irc u la r interpolation, a c c u ra c y
c irc u la r steps.
level c a n n o t be specified.
D isplay th e in struc tio n to edit.
Sequence Nos. do n o t coincide.
-
265 -
Message
Causes
N o t re g iste r th e step no m o re
2100
O verflow step Nos.
in the JOB.
2110
N o t possible to edit the E N D
E dit disable a f te r E N D in structio n
co m m an d .
2120
P o sitio n d a t a a r e fault.
M e m o rie s a r e destroy ed.
2130
N o t r e g iste r position data.
File is not registered.
2140
D epress I N S E R T or A L T E R N A T E key.
2150
U n d efin e d m a s te r job.
M a s te r jo b n o t registered.
D epress I N S E R T to r e c o rd step
2160
a s s a m e prev io u s step.
2170
2180
Instru ctio n file is fault.
M e m o rie s a r e destroyed.
A lte r n a te it w ith D E L E T E and
C ha nge d isable in stru c tio n s in
I N S E R T keys.
jo b s fo r w elding (teach pendant).
2190
Illegal c h a r a c t e r in jo b n a m e
2200
Illegal c h a r a c t e r in label
2210
U ndefined a d d re ss to be se arch e d
2220
D epress A L T E R N A T E key.
-
266 -
E r r o r No.
C auses
M e ssage
2230
U n a c c e p ta b le instruction
2240
S y n ta x e r r o r
—
In struction s y n ta x e r r o r
C a n ’t a lte r n a t e or d elete the
2250
—
instruction
2260
C a n ’t o m it th e o p e ra n d
—
2270
D u p lic ate d th e label n a m e
—
2280
N o t reg istered th e n a m e
—
2290
Did n o t p r o g r a m th e re la tiv e job.
—
2300
Did n o t p r o g r a m CA, CB, CC points.
—
T h e r e a r e s a m e position in CA,
2310
—
CB, CC.
—
2320
W r o n g d a t a in the c o n v e r te d
2590
W r o n g set ty p e of POSITION V A RIABLE
(MODPS Func.).
Be s u r e to use X Y Z -ty p e position v a r i
ables for p ara llel shift.
2600
Not
selected
POSITION
(MODPS Func.).
Before executing single a lte r a tio n
batch alteration, specify the file.
job.
V ARIABLE
-
267 -
or
I
Table A 2. 5 Error Messages for Teach Pendant Operation
E rro r No.
C auses
M essag e
C a n ’t te a c h position while
3010
softlim it released
3030
T h is
axis
does
not
E X T - A X E S BLOCK.
w o rk
-
under
268 -
A t teaching, the e x te r n a l ax is w hich is
set a t “No move,” the move o p e ra tio n is
tr ie d by usin g teach pendant.
Table A 2. 6 Error Messages for Floppy Disk Operation
M essag e
4010
C auses
Connect ca b le of floppy disk
Cable Connection fault of floppy
drive.
disk driv e or p o w e r n o t supplied
(No response fro m floppy disk drive)
4020
4030
In sert floppy disk.
T h e floppy disk is p ro tec ted
T h e floppy disk is set to w rite
fro m W R I T E o p era tio n
prohibit.
U ndefined file in th e floppy
4040
disk
T h e file a lre a d y e x ists in the
4050
floppy disk.
N o t e n ough m e m o r y a v a ila b le in
N o sp a ce in s to r a g e a r e a in
th e floppy disk.
floppy disk.
4060
N o t e n o u g h file a v a ila b le in
4070
th e floppy disk
4080
E x ce ss allo w a n c e n u m b e r of
I / O e r r o r in floppy disk
retran sm ittio n s.
T ra n s m is s io n e r r o r w ith floppy
F r a m in g e r r o r
disk drive
(A bnorm al n u m b e r of d a t a bits)
D a ta o v e rru n e r r o r
d isk drive
(A bn orm al d a t a receive processing)
4090
4091
T r a n s m is s io n e r r o r w ith floppy
P a r ity e r r o r
4092
d isk driv e
D a t a co d e er r o r
T r a n s m is s io n e r r o r w ith floppy
(Unspecified d a t a code is included.)
4093
d isk drive
-
269 -
Table A 2. 6 Error Messages for Floppy Disk Operation (Cont’d)
M essag e
C auses
W ro n g re a d in g ou t fro m floppy
disk drive
disk
4094
W r o n g w ritin g into floppy disk
4095
disk drive
N o response c o m m a n d or d a t a from
4096
floppy disk drive d u rin g a llo w a n c e tim e
disk drive
In te rru p tio n c a n n o t be e x e c u te d
d isk drive
f ro m se ria l 1 / 0 controller.
4097
F lo p p y disk driv e e r r o r e x c e p t
disk driv e
f o r e r r o r No. 4090 to 4097
4098
4100
T o t a l valu es of Intel H E X code
T o t a l c h e ck e r r o r
a r e different.
4110
4114
E r r o r in I N T E L H E X F O R M A T
S y n ta x e r r o r of instruction s
S pecification e r r o r of d a t a
re c o rd
4115
S p ecification e r r o r of E O F r ec o rd
4116
R e co rd ty p e e r r o r
4117
T o t a l c h e ck e r r o r of r ec o rd
4120
E r r o r in J O B D A T A R EC OR D
E x c e e d s soft limit, P o sition ty p e
v a r ia b le No. over, N u m b e r e r r o r
of shafts, etc.
N o N O P instruction a t th e
4130
N o N O P o r E N D inst. in th e job
beginning a n d no E N D instruction
a t the end
-
270 -
C auses
M essag e
N P O S r e c o rd is w ro n g fo r the
4121
E r r o r in I N T E L H E X RECORD
4122
form a t.
D ate r ec o rd is w ro n g for the
form a t.
F R A M E r e c o rd is w ro n g fo r the
4123
form a t.
T o o l r e c o rd is w ro n g fo r the
4124
E r r o r in JO B D A T A R EC OR D
form a t.
R eco rd on th e position d a t a
4125
E r r o r in JO B D A T A RECORD
section is w ro n g for th e fo rm a t.
R e co rd on th e instruction section
4126
E r r o r in J O B D A T A R EC OR D
is w ro n g f o r th e form a t.
4127
E r r o r in JO B D A T A RECORD
S y n ta x e r r o r of instruction
4128
E r r o r in J O B D A T A RECORD
T a g e r r o r of instruction
4140
T h e r e is a n instru ction w hich is
n o t construed.
Specification e r r o r of channel
4141
E r r o r in c o n c u r re n t 1 / O RECORD
No. (N um eric on 2nd a n d 3rd
digits of r e la y No.)
Specification e r r o r of bit No.
4142
E r r o r in c o n c u r re n t 1 / O R EC OR D
(N um eric on 1st digit of r e la y No.)
4143
E r r o r in c o n c u r re n t 1 / 0 R EC OR D
Sp ecification e r r o r of tim e r No.
4144
T i m e r valu e e r r o r
-
271 -
E r r o r No.
M essage
Causes
4145
Specification e r r o r of o p era tio n
code No.
4150
L a d d e r p r o g r a m is to o long.
E x e e d s p r o g r a m ca p a c ity
4160
T h e r e is no L a d d e r p rogra m .
N o p r o g r a m in editin g area.
4170
F o r m a t e rro r
N o t a d a p te d for th e form a t.
4180
Illegal n u m b e r of d a t a
4200
D a t a r a n g e ov er
—
E x c e e d s the r a n g e of th e d a ta .
(E x cep t soft limit)
4210
Illegal file n a m e
—
4220
A file is fault.
—
4230
V erify e r r o r
V erifica tio n e r r o r
(Date > N u m b e r of records)
4240
C a n ’ t lo a d d u rin g ro b o t motion.
T h e file is n o t allo w ed to
4250
—
—
load.
-
272 -
Table A2. 7 Error Messages for Concurrent I / O Editing
C auses
M essag e
Specification e r r o r of relay
6010
Illeg al re la y nu m b er
6011
Illegal r e la y n u m b e r
6012
6013
6014
(Line No. display)
E x ce ed s block No.
(Line No. display)
E x c e e d s ch annel No.
(Line No. display)
E x c e e d s bit No.
(Line No. display)
E x ce ed s tim e r No.
6020
Illegal instruction
6030
D u plicated r e la y n u m b e r
(Line No. display)
I m p ro p e r instruction is input.
P lu ra l o u tp u t a r e in stru c ted to th e relay.
(Line No. display)
T h e r e is a disconn ected relay.
6040
T h e r e la y is n o t used.
6050
T o o m a n y S T R ( - N O T ) instruction s
(Line No. display)
6060
T o o m a n y A N D ( O R ) -S T R instru ctions
(Line No. display)
6070
S y n ta x e r r o r in C R T in struction s
(Block No. display)
C T R instruction co n s tru c tio n e r r o r
6080
(Line No. display)
E n te r S T R ( - N O T ) a t th e h e a d of
N o S T R ( - N O T ) instruction a t the
th e block
h e a d of block
-
273 -
I
Table A2. 7 Error Messages for Concurrent I / O Editing (Cont’d)
E r r o r No.
6090
M e ssage
C auses
E x c e e d s m e m o r y c a p a c ity
N o t e n o u g h m e m o r y a v a ila b le
(Line No. display)
6100
D u plicate r e la y in T M R a n d C N T
6110
L a d d e r processing failu re
T i m e r an d c o u n te r a r e used twice.
CIO p r o g r a m t r a n s f e r is
in terrup ted.
6120
L a d d e r s c a n tim e n e e d s 5 m s or
L a d d e r S c a n - T i m e over
more.
6130
W r o n g L a d d e r p r o g r a m (NO D E etc.)
P o sitio n a n d n u m b e r of N O D E
in struc tio n a r e w rong.
6140
6150
M e m o r y o v e r (L a d d er p ro g ra m )
E x c e e d s m e m o r y c a p a c ity
T h i s c o m m a n d is n o t to edit or
—
erase.
-
274 -
Table A 2. 8 Error Messages for System (Software)
9010
C ontents
M e ssag e
E r r o r No.
S erial c irc uit open is n o t
F ile M a n a g e m e n t S y ste m (FMS)
re q uired.
P r o g r a m error.
error
O pen is req uired twice.
9011
FM S error
9012
FM S error
9013
FM S error
9014
FM S error
N o specified text.
9015
F M S error
A ccess M e th o d failure.
9016
F M S error
9017
FM S error
O ne line e x c e e d s m a x . c a p a c ity
of te xt.
Specification e r r o r of device.
P a r a m e t e r error.
O th ers
9018
—
—
9019
—
—
9020
F lo p p y t a s k in te rfa ce e r r o r
P a r titi o n e r r o r
9021
Flo p p y ta s k in te rfa c e e r r o r
PR O C e r r o r
-
275 -
I
Table A 2. 8 Error Messages for System (Software) (Cont’d)
E r r o r No.
9022
M e ssag e
C ontents
F lo p p y ta s k in te rfa c e e r r o r
CMOS error
9023
—
—
9024
—
—
9025
—
—
9026
—
F lo p p y t a s k in te rfa ce e r r o r
9027
—
—
9028
—
-
—
9029
9030
J MS error
OVER
9031
JM S error
POOR
9032
JM S error
FOUND
9033
JM S error
NOT_FOUND
-
276 -
M e ssag e
E r r o r No.
C ontents
9034
JM S error
BAD_BLOCK
9035
JM S error
B A D _ S T R IN G
9036
JM S error
BAD_REC_NO
9037
JM S error
BA D _ S E Q _ N O
9038
JM S error
E D IT _D IS A B L E
9039
JM S error
B A D _ A T T R IB U T E
903A
JM S error
A L R E A D Y _E X IS T S
903B
JM S error
NON_CODE
903C
JM S error
N O N _S T R IN G
903D
JM S error
NORM AL_END
903E
JM S error
BROKEN
903F
JM S error
L O SE _P O IN T ER
-
277 -
Table A2. 8 Error Messages for System (Software) (Cont’d)
M essag e
C o n ten ts
In stru c tio n c o n tro l e rro r
IL L E G A L
CODE
9041
in stru c tio n c o n tro l e r r o r
RANGE
9042
Instru ctio n con tro l e r r o r
TOO
9043
Instru ctio n con tro l e r r o r
SYNTAX
9044
Instru ctio n c o n tro l e r r o r
C O N T IN U E
9045
I n stru ctio n c o n tro l e r r o r
SHORT_OPERAND
OVER
MANY
OPERAND
ERROR
9046
9047
9048
9049
P o sitio n d a t e file is destroyed.
9050
PM S error
I n stru ctio n c o n tro l failure.
9051
9052
PM S error
-
278 -
E r r o r No.
C on ten ts
M e ssag e
9053
—
—
9054
—
—
9055
—
—
9056
—
—
9057
—
—
9060
U ndefined e r r o r is detected.
J M S an d P M S e r r o r
-
279 -
A 3. EXAMPLE OF INSTRUCTION USING
A 3. 1 INSTRUCTION STRUCTURE
I n stru c tio n s t r u c t u r e is d e s c rib e d below by usin g an exam ple of move In stru ction.
I n stru ctio n con sists
of I n stru c tio n Code and A ddition al Item (Tag).
MOVL
V = 2 4 0 .0
U N TIL
(Speed)
IN # 1 6 = 1
(Stop condition)
- In stru c tio n
T ag
M e a n in g of t h i s i n s t r u c t i o n :
M ove a t s p e e d 240 m m / s u n til th e sig n a l of i n p u t No. 16 b ec o m e s 1 .
Move in stru c tio n is p r e p a r e d in tag s as sho w n in T ab le A 3. 1.
Table A 3 . 1 Meaning of Tags
M eaning
Tag
S etting V alue
EX
W ith ext. ax is d ata
No d a ta
VJ =
Speed (Link speed only for MOVJ)
0.01 to 100. 00%
V=
Speed (A bsolute move speed)
0 . 1 to ( 1 5 0 0 .0 0 )m m /s
VR =
Speed ( W r is t o rie n ta tio n speed)
0 .1 to ( 1 8 0 .0 ) d e g r e e /s
VE=
Speed (Ext. ax is speed)
0.01 to 100. 00%
PL =
P ositioning specification
0 . 1 to 4
UN TIL I N #
In te rru p tio n condition
In p u t No. & s ta tu s ( 0 , 1 )
N W A IT
No w a it u ntil com pletion
No d a t a
P
P osition ty p e v a r ia b le (For ro b o t axis)
00 to 63
EX
Position ty p e v a r ia b le (For ext. axis)
00 to 63
SPECIAL
Special lin ear
No d ata
F o r n orm al teaching, only “V = ” is ad ded as ta g afte r MOVL in stru c tion.
ments, o th e r ta g s can be ad d e d th e MOVL in s tru c tio n w ith ta g “V = ”.
added.
MOVL
A cc o rd in g to the r e q u i r e
How ever, some tag s ca n n o t be
Select by items as follows.
Te a c h in g Position
(EX)
V=
Pnn
UNT IL I N #
VR =
EX nn
VE =
280 -
NWAIT
A3. 2 PROGRAMMING TECHNIC
T h e ro b o t la nguage INFORM (Instru c tion for MOTOMAN) equ ipped w ith YASNAC ERC is an easy-top r o g ra m ex p re ssio n f o r m a t an d h a s effective functions to solve co m p le x problem s.
A n o p e ra tin g e x a m
ple is sho w n below.
A 3. 2. 1 Operating Example of Until Statement in M O VE Instruction (MOV
)
By ad d in g an U N TIL s ta te m e n t to th e MOVE in struc tion, if a specified in p u t signal sw itc h es on d u r in g
movement, the n ex t in stru c tio n is executed after s to p p in g movement.
T h is sta te m en t is used w h en palletizing o r c onve yor stop position is not definite.
E x a m p l e : W o rk p ie ce t r a n s f e r by a jig of the float type
L IM IT SW ICH
(TO IN-16)
fff
.S T E P 1
.S T E P 2
STEP 3»
CT,
S T E P 5 (S T E P S 3
AND
5 ARE
S A M E P O IN T )
FLOAT
M E C H A N IS M
j s u X z s
DOG
STEP 4
M O V L V = 5 0 .0 U N T IL I N # 1 5 — 1
Step 4 and 5 a r e ta u g h t from step 3 in a s tr a i g h t line.
F o r ste p 4, add tags afte r “U N T IL ” as follows.
MOVL
V=
•Input No.
In th is diagram , w h en th e float dog engages th e limit sw itch, the jig rele ase s the w o rkpiec e
and ris e s to w a r d ste p 5.
-
281 -
A 3. 2. 2 Operating Example of NWAIT in MOVE Instruction (MOV
)
W h e n p o sitioning to the specified position by the MOVE in s tru c tio n is finished, the execution of MOVE
in stru c tio n is com pleted and the next in stru c tio n is executed.
By ad d in g N W A IT , execution of the n ex t in stru c tio n s t a r t s w ith o u t w aitin g for the completion of the
MOVE in struc tion.
T h e n ex t in stru c tio n is ex ecuted w hile moving.
M a n ip u la to r o u tp u ts the o u tp u t signal before rea ch in g th e specified position.
E xam p le : G luing
T h is o p e ra tio n can also be use d for sp o t welding, h a n d lin g and m any o th e r applications.
T each the gluing s t a r t p oint (step 3) as follow s:
S T E P 3 MOVL V = 1 0 0 .0 N W A IT
TIM ER T = 0 . 5
DOUT O T # 0 2 = 1
C W A I T .............. S T E P 3 : W a it until a r r iv a l
D O i r F o T # 03 = 1
W h e n the ste p -3 M OVE in stru c tio n is given, m a n ip u la to r s t a r t s m oving to step 3. E xecution of the
TIM ER in s tru c tio n s t a r t s sim ulta neously.
A fte r 0 .5 se c , the signal for O u tp u t No. 02 t u r n s on by
D O U T (output) in stru c tio n .
H o w ev er, e x e c u tio n of th e O u tp u t No. 03 signal is p erfo m e d a f te r a r riv in g a t ste p 3 b e c a u s e of the
C W A IT in stru c tio n .
If th e
m a n ip u la to r
ex ecutes em erg ency
sto p d u r in g o p e ra tio n
in step h a v in g
N W A IT an d it s t a r t s th e c o ntin uous o p eratio n, the m a n ip u la to r moves as follows.
0 0 NOP
1 1 MOVJ
2 2 M O V J N W A IT
3
DOUT O T #01 = 1
4
DOUT OT # 0 2 = 1
“5
T I M E R T = 0.05 I
6 3 MOVL
M OVJ N W A IT
D O U T O T #01 = 1
D O U T O T # 02= 1
T I M E R T = 0.05
EM E R G E N C Y
STOP
When the m an ip u la to r exec ute s
e m er g en cy stop and st ar t s again
at this point, it mo ve s to step 2.
ex ec u tes T I M E R instruction,
and mo v e s to step 3.
END
-
282 -
3 M OVL
A 3. 2. 3 Selection of Speed Specification
F o r MOVL and MOVC in stru c tio n s, th ree -sp eed ty p e a re selected.
E x a m p le : S peed selection
VR— :
U sed to control the ch a n g e speed of w rist orientation.
VE= :
U sed to control the r o ta tio n speed of e x te rn a l axis.
-
283 -
A 3. 2. 4 Selection of Positioning Level
P ositioning level specification is add ed to th e MOVJ and MOVL in stru c tio n s.
tion in g o r in w a r d p o sitionin g (4-level).
Set eith er p erfec t p o s i
In in w a r d tu r n in g positioning, m a n ip u la to r moves circularly,
and changes spe ed smoothly.
Perfect positioning
Inward turning positioning
• For manipulator of payload of 30kg or less:
Approx 100mm max.
• For manipulator of payload of 30kg and m ore:
Approx 150mm max.
Fig. A3. 1 Positioning Level
E xam ple : Position in g level selection
®
S tep s
©©
©
(J), © , © , and (D a re m erely p a s s in g p o in ts and a c c u r a te positioning is no t n ec es sary .
By ad d in g
P L = 1 to 4 to the M OVE in s tru c tio n of th e se steps, in w a r d t u r n in g re s u lts to sh o r te n the cycle time.
If perfec t po sitio n in g is n e c e s s a r y as in s te p s (3) and © , add P L = 0 .
• P a s s in g p o i n t :
MOVL
• P ositioning p o i n t :
V = 5 00.0
MOVL
PL= 1
V = 1 0 0 .0
to 4
PL= 0
-
284 -
A 3 . 2. 5 MOVE Instruction for Specified Distance (Linear Operation)
F ro m r e g iste re d position of IMOV (move in stru c tio n for specified distance) in struc tion, lin e a r in te r p o la
tion is operated by specified position type variable (increment value).
E xam ple : IMOV in stru c tio n o p eration
Line
Step
0128
102
MOVJ VJ = 60.000
0129
123
IM O V P026*
V = 120.0
0130
D O U TO T# 12
1
0131
TIMER 0.5
0132
104
IMOV P 0 2 7 * *
0133
105
MOVJ VJ = 60.00
M eaning of this instruction :
M a n ip u la to r sh ift dow n sp ecified h eig h t
{ / - ) from ste p 102, pick up a
w ork p iece, th en re tu r n to its fo rm er
position.
V = 120.0
♦ S et-^ -Z (the sp ecified height) to P 0 2 6
♦ * S et ^ Z to P 0 2 7 .
-
285 -
A3. 2. 6
By
using
present
Setting of Working Times (Utilization of byte variable)
byte
working
variable,
times
the
are
working
output
Example:
WAIT
IN # ;
DIN
B ;.IJ
times
to
the
Setting
are
set
from
the
external,
and
external.
of
working
times
Waits
reading
OK
I G # ; _ ] ---------- Reads
to
signal
working time and
the byte variable.
stores
it
- * 2
JU M P
*3
CALL
... . .
JO B : Working
DEC
B n : ] -----------------------
Subtracts
DOUT
O G #;]]
Outputs the contents of
variable (working times)
JU M P
*
IF
j?ndS j f byte variable
times) is 0 or minus.
B;_jlj < = 0
B[;L' j ----------
one
from
(working
working
times.
byte
2
i__ - * 3
DOUT
0 T # r _ ] = L 'j -
Outputs
and
signal.
END
Y A SNA C ER C
B Y T E V A R IA B L E <B'* j ; . j >
R E A D IN G O K S IG N A L
-v
’ S e t s th e w o rk in g tim e s by
e x te r n a ) input.
, IN P U T T H E N U M BER
O F T IM E S
> S u b t r a c t s one fro m c o n te n ts
of v a ria b le e v e ry w o rk in g
tim e.
* O u tp u ts th e c o n te n ts of
v a ria b le to th e e x te r n a l.
O U T PU T TH E NUM BER
O F P R E S E N T W O R K IN G
T IM E S
EN D S IG N A L S
-
286 -
A3. 2. 7
Job Selection by Pattern Input
Multiple
jobs
signal,
the
are
selected
signal
by
effectiveness
Example:
1.
Where
external
pattern
is
also
Job
job
jump
signal.
For
changed
selection
by
instruction
pattern
as
with
parity
follows:
pattern
is
input
not
input
used:
Y A SN A C KRC
IN * 01
R E A D O K S IG N A L
1
IN * 0 9
2
4
JO B S E L E C T IO N
S IG N A L S
<0 to 127)
8
10* 02 -
16
32
64
128
IN * 1 6 '
Without
ity
par
set
tings
are
sary.
IN #01 = 1
BOO IG # 0
B02
BOO
AND
BOO
SET
AND
B01
B02
127
BOO
128
SET
B03
7
Signal
reading
Separates
other
parity
signals
and
exclusive
OR
signals
signal,
these
not
WAIT
DIN
SET
- P A R I T Y S IG N A L
(E V E N P A R IT Y )
neces
1
MUL
XOR
DEC
-J U M P
B01 2
BO2 B01
B03
* 1
Execute
IF
JUM P
128
:
JOB Par
JUMP
J O B : Working
A
IF
B00=0
JUMP
J O B : Working
B
IF
B00=1
job
JUMP
J O B : Working
C
IF
B00=2
also
AND
for
all
If signal 1 is even-numbered
the result becomes 0.
B02
error
-
287 -
IF
B02=128
Parity
Selection
(CALL
error
of
bits.
signal,
detection
specification
instruction
possible. )
is
Example:
2.
Where
pattern
Job
job
selection
jump
by
pa tt er n
instruction
is
input
(Con t’d)
used:
Y AS NAC ERC
m
• REA D OK SI GN A L
i
2
4
8
16
IG“ 02 J
JOB SELECTION
>• S I G N A L S
<0 to 1271
32
64
128
IN
16
■PARITY SI GN A L
(EV EN P AR IT Y'
WAIT
DIN
IN #01 = 1
BOO IG # 02
SET
B02
Signal
reading
BOO
Selection
JU M P IG # n
(I)
Pattern
JUMP
job
jump
(CALL
instruction
is
also
IG# □
the
IF
group
possible.)
conditions,
IN# □ = □
i
No.
pattern
job
jump
with
conditions
0:OFF
i----- 1 :0N
--------- Input
— Input
(2)
job
IG# n
specifying
JUMP
specification
instruction
^------ Input
By
of
Correspondence
group
with
No.
No.
input
Table A3.2
group
No.
and
input
Input
Group
No.
and
No.
Input
No.
Input Group No.
Input No.
IG # 1
IN # 1 to IN # 8
IG # 2
IN # 9 to IN # 16
IG # 3
IN # 17 to IN # 2 4
IG # 4
IN # 2 5 to IN # 3 2
IG # 5
IN # 3 3 to IN # 4 0
IG # 6
IN #41 to IN # 4 8
-
288 -
is
also
set.
(3)
In stru c tio n execution
E x a m p le :
JU M P I G # 1 IF I N # 9 = 1
D escriptio n of in stru c tio n above :
• W h e n IN # 9 is O F F sta tu s, the in stru c tio n on next line in executed.
• W h e n I N # 9 is ON sta tu s, in p u t s ta tu s of I G # 1 ( I N # 1 to I N # 8 ) is checked.
• W h e n all in p u ts of I G # 1 ( I N # 1 to I N # 8 ) a re O FF , the next in stru c tio n is executed.
• W h e n in p u ttin g to any IG # 1 (IN # 1 to IN # 8 ), ju m p s to the job name w h e re the in p u t s ta tu s is
ON.
F o r the job name w h e re the in p u t s ta tu s is ON, no p a r ity check or b in a ry specification is set normally.
H ow ever, the job nam es differ acco rd in g to selection of p a r ity check y e s / n o and b in a ry /B C D spe cific a
tion.
In put G ro u p No.
In p u t No.
B in ary T y p e
IN #
IN #
IN #
IN #
1
2
3
4
2
2
2
2
0=
1=
2=
3=
1
2
4
8
IN #
IN #
IN #
IN #
5
6
7
8
2
2
2
2
4 =16
5 =32
6=64
7 =128
IG # 1
BCD T ype
2° = 1 )
2' = 2 L x
In put S ta tu s (Example)
!
22 = 4
23 = 8J
2° = 1 )
21 = 2 I x 1
22 =4 [ 1
23 = 8 J
ON
OFF
ON
OFF
ON
OFF
ON
OFF
In th is example, the in stru c tio n ju m p s to job nam e below.
• A t b in a r y specification : Job 85
• A t BCD specification : Job 55
P a tte r n job ju m p (call) in stru c tio n can be used w ith the job nam e below.
B i n a r y /B C D
Specification
Job Name
Yes
B in a ry
BCD
1 to 127
1 to 79
KI„
B in ary
BCD
1 to 225
1 to 99
Parity Check
1 . Use only digits for job name.
Alphabet, symbols, etc.
2 . Job name 01 and 1 are different.
are ineffective.
Use job name 1 of half-size for pattern job call instruction.
-
289 -
A3.
2.
(1)
8
Example of TOP and ADV in Jum p/C all Instruction (Effective from V4.00)
S earc h in g method of label jum p
T he l a b e l- s e a r c h in g s t a r t p oint can be specified by using tag.
•
w h en r e g iste rin g tag "T O P ” in JU M P in stru c tio n , the s e a r c h in g s t a r t s from the head of the jobs.
•
w hen not re g is te r in g it, the se a r c h in g s t a r t s from the c u r r e n t c u r s o r position (on JU M P i n s t r u c
tion).
T h e effective method is sho w n below.
JOB : M as te r
NOP
i*STA RT!
MOVJ
DOUT
DOUT
MOVJ
DOUT
0
1
2
3
1
t,
— Not specify ta g “TOP".
T h e se a r c h in g time is red u c ed less th a n the in
s tr u c tio n w ith t a g “T O P ”.
;»o
51
JU M P * EXIT IN S 1 2 -O N
J U M P * ST A R T TOP
[* E X ÏT 1
C A LL JOB : R E S E T
MOVJ
DOUT
DOUT
MOVJ
TIMER
PULSE
MOVJ
JUM P * STA RT
EN D
r»:i
:>\
5’)
5(i
.'7
r»‘)
(¡0
in
G2
(2)
----- Specify tag “T O P ”.
T h e se a r c h in g time is re d u c e d less th a n the i n
s tr u c tio n w ith o u t ta g “T O P ”.
T h e r e is no d ifference in the s e a r c h in g tim e
even if ta g “T O P ” is specified or not.
O p e ra tin g method of J u m p /C a ll in s tru c tio n s w ith condition job
J u m p /c a ll in s t ru c tio n s w ith condition ta k e ap p ro x . 100 ms or more up to the tim e of objective job
execution.
T o r ed u c e this time, r e g is t e r tag “A D V ” in in stru c tio n w ith condition.
W h e n ta g “A D V ” is re g iste re d , the objective job is decoded w hen th e condition is e s ta b lish e d at
lo o k - a h e a d operation.
W h e n the in stru c tio n is executed, YASNAC ERC c o n tro lle r c h e ck s the co n
dition again.
A t th is time, if th e condition is es ta b lish e d , the objective job is executed instan tly .
If it is not
estab lish ed , it ta k e s approx. 100 ms or m ore up to the time of objective job execution.
T h e effective method is s h o w n below.
U
1
JOB ! M aster
NOP
f~* STA R T 1
2
J U M P J O B : 001 I F IN # 0 1 = O N A D V
3
I
3
(i
JU M P
JU M P
JU M P
JU M P
7
8
J U M P J O B : 006 I F I N # 0 ( i = O N A D V
J U M P J O B : 007 I F I N # 0 7 = O N A D V
ÜÜ
30
31
32
33
J O B : 002
J O B : 003
J O B : 004
J O B : 005
IF
IF
IF
IF
IN # 0 2 = ON
IN # 0 3 = ON
IN # 0 1 = O N
IN # 0 5 = O N
ADV
ADV
ADV
ADV
J U M P J O B : 028 I F l N # 2 8 = O N A D V |
J U M P J O B : 029 I F I N # 2!) = O N
J U M P J O B : 030 I F IN # 3 0 —O N
JU M P
END
* START
W h e n th e condition h a s a lre a d y
lished
before
been e s t a b
execu tin g m a s te r job,
“A D V ” to JU M P
in stru c tio n .
The
add
ta g
execution
time is reduced.
W h e n the condition is e s ta b lish e d afte r e x e c u t
ing m a s te r job, do not add ta g “A D V ” to JU M P
in struc tio n.
-
290 -
A3.
2.
9
POSITION MONITORING FUNCTION BY FEEDBACK PULSE (Effective from V4.00)
W h e n the interlock is r e q u ir e d for e x te rn a l p e r ip h e ra l equipm ent, cube signals a re used up to
4.
How ever, th e se cube signals are not enough for r e q u ir in g interlo ck in m any te ac h in g points.
To solve the problem , th is function is improved.
By re g is te r in g m o nitoring position in step by in stru c tio n and executing it, the c o n tro lle r ex ecutes p o s i
tion m o n ito rin g in any specified teach position (step), and co n tro ls the in te r -lo c k signal for e x tern al
p e r ip h e r a l devices.
(1)
F un ctio n
T h is function is o p e ra te d as follows.
1 . A n y te ac hin g position is r e g a rd e d as a m on ito ring position.
(Register in step by instruction.)
2 . T u r n s on g e n e r a l- u s e o u tp u t (robot p a u s e position signal) r e g iste re d by exe cu tin g in struc tion.
3 . W h e r e the m a n ip u la to r is moved from m onitoring position, the o u tp u t is tu r n e d off autom atically.
T h is o u tp u t is not tu r n e d on u n le ss the in stru c tio n is executed again.
(2)
I n stru ctio n
(Name)
P osition m o n ito ring p u tp u t function
(Group in I /O in struc tio n)
(F o rm a t) P O S O U T P M Î M ; (Input ra n g e 1 to 8 )
t
D ata file No. for position m on ito rin g
P O S O U T F IL E
F I L E N o .0 1
Fig. A 3 .
3
ZONE PULSE (+ )
ZONE PU LSE (-)
s
I.
u
50
S
50
50
L
50
50
U
50
R
50
R
50
B
50
B
50
T
50
T
50
W1
50
W1
50
50
W2
50
W 2
W3
50
W3
50
W4
W5
50
W4
50
50
W5
50
W6
50
W6
50
Position Monitoring Condition Display
-
291 -
(3)
Registering POSOUT instruction
---------- (Operation on O perator’s Panel)-
^
(Description)
D e p re ss
^DtSP i
-ÇK
DISP
key afte r se ttin g c u r s o r on
the step of p ause position.
D ep ress
Job
soft key.
F1
Job
<
F1
Position
F2
File
F3
D ia g n o sis
F4
Stack Oisp
F5
o
0
D e p r e ss
D epress
EDIT
Insert
Alter
F1
F2
key.
In s e rt
<
A lt e r
7 0 5 ,
D e le t e
F3
Line edit
F4
key.
Speed chg
F5
o
D e p re ss
In/Out
I
soft key.
I F1 I
In/Out
<
FI
—
S equence
F2
D e v ic e
F3
S h if t
F4
Samecomd
F5
l>
D e p r e ss
a
D e p re ss
POSOUT
<1
F1
F2
F3
F4
F5
>
------- I1JK------------------------
-
292 -
t>
POSOUT
key.
'— -------— '
rm
soft key.
soft
A fter se ttin g c u r s o r on desire d
Data chg
1-----------^
I F5 |
press
position, de-
,
soft key.
In p u t digits to be altered and depre ss
ENTER
key.
(4)
O peration
W h e n the in stru c tio n is executed, position m onitoring s t a r t s afte r the o u tp u t relay (pause position
signal) in specified file is tu r n e d on.
If th e m a n ip u la to r position (checked by feedback pulse) is
shifted in excess of allow able p u lse s of the file specified by the in stru c tio n execution step position.
T h is p au s e position signal is not tu r n e d on u nle ss the position m onitoring o u tp u t in stru c tio n is e x
ecuted again.
T he m a n ip u la to r position is a lw a y s m onitored by usin g feedback pulse while co n
trol pow er is tu r n e d on.
T h e position m o n ito rin g s ta tu s is c h e c k e d in th e d ia gno sis display.
DI AGNOSIS
(P OS O UT )
PROG. POS. P U L SE
F EE DB AC K P U L SE
ZO N E(-)
1000
s
2000
s
50
S
L
1000
L
2000
L
50
L
50
U
1000
u
2000
U
50
U
50
R
1000
R
2000
R
50
R
50
B
1000
B
2000
B
50
B
50
T
1000
T
2000
T
50
T
50
\\\
1000
W1
2000
W 1
50
W 1
50
W2
1000
W2
2000
\V 2
50
\Y 2
50
W3
1000
W3
2000
W3
50
W3
50
W4
1000
W4
2000
\V4
50
\V 4
50
W5
1000
W5
2000
W5
50
W5
50
W6
1000
W6
2000
W6
50
W6
50
CUR. F ILE NO.
A 3.
4
G E N E R A L O U T NO.
01
01
Fig.
ZO N EI + )
s
50
ON O F F
■
Position M onitoring D iagnosis D isplay
If PO SO U T in stru c tio n is executed in a position th a t is d iffe ren t from step r e g
istered PO S O U T in stru c tio n , alarm 1690 “PO S O U T in st execution e r r o r ” will occur.
T h e p au s e position o u tp u t is not tu r n e d on.
-
293 -
(5)
A larm e r r o r
E rro r Code
D isp lay ed
M essage
1690
P O S P U T INST. EX1ÏC U ' riON ERROR
0
0
0
0
J [_
jL
JL
J_
^—No ste p in PO SO U T
---------- PO SO U T ste p is IMOV in s tru c tio n
.............. ..
Com m and V alu e an d c u r r e n t v alu e in PO S
O U T ste p o v er allo w ab le ran g e.
A fter ex e c u tin g P O SO U T in s tru c tio n , the
feed b ack p u lse is n ot rec eiv ed in com m and
v alu e in c lu d in g allo w ab le ra n g e even if
w a itin g fo r 2 seconds.
C ause
PO SO U T in s tru c tio n is n ot ex e cu ted th o ro u g h ly .
A ction
A fte r re s e ttin g th e alarm , check th e PO SO U T in stru c tio n an d r e s e t it.
-
294 -
A3.
2. 10
FREE CURVE INTERPOLATION FUNCTION (Effective from V 4.00)
F o r w o rk p iec es h av in g fre e c u rv e s in v a rio u s ap p lic a tio n s su ch as w elding, cu ttin g , p lasm a coating, etc.,
th is function is d eveloped to ease te a c h in g an d to im p ro v e th e p ath accu racy .
(1)
O p eratio n
T h e p ath fo r th re e p o in ts specified free cu rv e in te rp o la tio n d e s c rib e s a p a ra b o la p a s sin g th re e
points.
I C irc u la r arc p ath
— ! P a ra b o la path
P3
Fig. A 3 .
5
D ifference b etw een Circular Arc Path and Parabola Path
W hen th e p a th s c o n sist of co n sec u tiv e p o in ts
p a ra b o la
in te rp o latio n ,
p a th s becom e p a th s (as sh o w n h eav y line) by sy n th e siz in g them.
pi
Fig : A 3 .
(2)
sp ecify in g fre e cu rv e
P3
6
Path for Consecutive Free Curve Interpolation
T ea ch in g
Specify free c u rv e in te rp o la tio n (MOVS) by d e p re ss in g
T h e lig h t is sh ifte d dow n ev e ry tim e
MOTION
TYPE
MOTION
TYPE
key.
JOINT
I
□ — LNR
key is d e p re sse d as
I
CIRO
show n on th e rig h t.
1
M OVS s p e c i
CD —
LNR
CIRO
ficatio n sh o u ld lig h t “□ - L N R ”
a n d “d T 'C IR O ”
-
295 -
Free curve
interpolation: MOVS
Two lamps light
Simultaneously.
th e o v erla p p ed
(Exam ple)
T each P I
P2
to P 5 su c c e ssiv e ly in free c u rv e in
te rp o la tio n sp ecificatio n .
Fig. A 3 .
7
1 . In M OVS sp ecificatio n , be s u re to re g is te r th re e p o in ts o r m ore co n secu tiv ely .
2 . T h e d ista n c e am ong p o in ts sh o u ld be alm o st equal.
If th is is n ot done, an
alarm m ay o cc u r d u rin g o p eratio n .
(3)
Speed
(Exam ple)
P2
B etw een P 1 and P 2 ! O p e ra te s at sp eed of P 2 .
B etw een P 2 an d P 3 ! O p e ra te s at sp eed of P 3 .
PO
PI
P3
!!««■=■ T h e ac tu a l o p e ra tin g speed is a little
P4
fa s te r th a n th e s e ttin g speed.
Fig. A 3 .
(4)
8
N otes
W h e n o p e ra tin g th e jo b s ta u g h t fre e c u rv e (MOVS), be ca refu l of th e follow ing p oints.
•
The
m a n ip u la to r m o v es s tr a ig h t to th e
s ta rtin g p o in t of fre e c u rv e specificatio n .
•
W h en th e m a n ip u la to r is o p e ra te d
tw een P 2
and
P 3
be
R EPLA Y N E X T ^
O P E R A T IO N
> s ,'
as follow s, th re e
® P A T H D U RIN G
N E X T O P E R A T IO N
p a th s a re d ifferen t.
©
T h e m a n ip u la to r w o rk s at N EX T o p
(2)
It sto p s a t P 3 and b a c k s up from P 3
(3)
It w o rk s ag ain a t N EX T o p era tio n .
era tio n .
to P 2 .
Fig. A 3 .
A larm “ T h e d ista n c e b etw een te a c h in g p o in ts
ecuted N EX T o r BACK o p e ra tio n .
9
n o t e q u a l” m ay o ccu r a c c o rd in g to th e p o sitio n e x
If th is alarm o ccu rs, o p e ra te N EX T o r BACK o p e ra tio n again
a fte r re s e ttin g it and ca llin g u p th e ste p by d e p re ssin g
m a n ip u la to r m oves s tr a ig h t to d isp la y e d step .
+
ON
_
OFF
key.
The
F o r in ch in g o p e ra tio n of N E X T o r BACK o p e ra
tion, ta k e c a re of th e m a n ip u la to r m otion b ecau se th e p ath is changed.
-
or
296 -
• (D
T h e m a n ip u la to r m oves s tr a ig h t to P 2
w hen it is execu ted in AXIS o p e ra tio n
d u rin g fre e c u rv e in te rp o latio n .
(2)
T h e follow ing m otion d iffe rs from p a th
a t PLA Y o p e ra tio n in som e d istan c e.
A fte r th a t, th e m otion is
the sam e as
p a th a t PLA Y o p eratio n .
Fig. A 3 .
•
10
W h en th e m a n ip u la to r is execu ted c u r s o r s h ift o r se a rc h o p era tio n , it m oves in the sam e p a th as
sh o w n in Fig. A 3 . 10.
(5)
Inform in s tru c tio n
In stru c tio n
F u n ctio n
MOVS
M oves a t free c u rv e
in te rp o la tio n to th e
te ac h in g positio n
(6)
F o rm a t
E xam ple
MOVS (P o sitio n ) (Ex. ax is pos.)
V = (S p eed ) , VR (P o s tu re sp eed )
V E = (Ex. ax is sp eed )
(N W A IT )
M OVS
V = 1 2 0 .0
A larm code
Code
M essage
A L -1331
N ot enough ste p fo r free cu rv e
( 3 ste p s)
T h re e s te p s o r m ore a re n o t re g is te re d in free
in te rp o la tio n sp ecificatio n .
F re e c u rv e te a c h in g e r r o r
T h e p o in ts am o n g th e te a c h in g p o in ts do n o t h av e
A L -1 7 4 0
A L -1021
C o n ten ts
e q u a l d istan ce.
A m a n ip u la to r can n o t be o p e ra te d a t p o sitio n r e g
iste re d a t tw o p o in ts in th e sam e position.
T W O S T E P S SA M E POS.
(F re e curve)
-
297 -
A3.
2 . 11 Parallel Shift Function for Manipulator with 6 Axes (Effective from V 4.00)
A3.
2.
11.
1
Outline of parallel shift function
T he p ara llel sh ift function is for e q u id ista n t sh iftin g of each p o in t on the w orkpiece from a specific
position.
T h e s h ift v alu e in Fig. A 3. 2 can be defined by d istan c e I (co o rd in ate d isp lacem en t in th ree
dimensions).
T he te ach in g p ro ce d u re for th e m anipulator is sim plified by p a ra lle l-sh iftin g the ta u g h t loci o r positions.
W hen th e ta u g h t positio n ® is sh ifte d by d istan c e
I (d isp lacem en t of X, Y or Z d irectio n in
a coordinate system , w hich th e ro b o t can recognize), th e w ork ta u g h t at p o in t @ can be p erfo rm ed
at th e sh ifted p o sitio n s (B) to © .
See Fig. A 3 . 3.
Fig. A 3 . 12 Example of Parallel Shift
-
298 -
A3.
(1)
2.11.
2
Composition of parallel shift value
P o sitio n -ty p e v a ria b le
T h e p o sitio n -ty p e v a ria b le is used for d efin itio n of p a ra lle l-sh ift function.
YASNAC ERC h as 64
position-type variable (POO to P63).
B efore using a p a ra lle l sh ift function, m e a su re th e d iffe ren ce b e tw e e n ta u g h t p o sitio n s an d p o sitio n s
to be sh ifte d (disp lacem en t of X, Y o r Z d ire c tio n in each co o rd in a te system ), an d re g iste r th e d ifferen ce
in p o sitio n -ty p e v aria b le.
In p la y b ac k o p era tio n , w hen a p a ra lle l sh ift in s tru c tio n is ex ecuted, th e ta u g h t p o sitio n is sh ifted by
th e sh ift v alu e w hich is re g iste re d in th e p o sitio n -ty p e v aria b le.
VARIABLE NO.
POSITION VARIABLE(P)
# P 00
#P 01
X
0.000
Y
0.000
Z
0.000
#P 02
X
0.000
Y
0.000
Z
0.000
TX
0.00
TX
0.00
TY
0.00
TY
0.00
TZ
0.00
TZ
0.00
X
0.000
Y
0.000
Y
0.000
Z
0.000
Z
0.000
# P03
X
TX
0.00
TX
TY
0.00
TY
TZ
0.00
TZ
SHIFT
-VALUE (mm)
DISPLACEMENT
-O F WRIST
ORIENTATION)0 )
0.000
0.00
0 .00
0.00
Fig. A 3 . 13 Configuration of Position-type Variable
(2)
D efinition of co o rd in a te sy stem an d w ris t o rien tatio n
T h e sh ift v alu e is th e in c re m en t v alu e of X, Y o r Z in each co o rd in a te sy stem ; base, ro b o t, tool and
u s e r c o o rd in a te sy ste m s (Fig. A 3 . 13).
F o r th e sy stem w ith o u t ru n n in g axis, b ase and ro b o t co o rd in a te system s a re th e same.
299 -
A3.
(3)
2. 11. Composition of parallel shift value (Cont’d)
C om position of p a ra lle l s h ift value
T h e c u r r e n t positio n d a ta of m a n ip u la to r on CR T d isp la y a re u tilized fo r sh ift v alu e to be se t in
position-type v a ria b le .
Base Coordinates
BT
Base Coordinates
X
1042.80mm
X
1042.80mm
Y
100.00mm
Y
2 00.00mm
Z
50 1 .04mm
Z
501.04mm
46.92
TX
46.92
ty
-54.80
ty
-54.80
TZ
134.25
TZ
134.25
TX
(a )
T a u g h t P ositio n
(b)
P o sitio n s to be sh ifted
(M ove w ith te ac h p en d an t.)
#P00
X
Y
Z
TX
TY
TZ
0.000
100.000
0.000
0.000
0.000
0.000
)
/
\
)
/
\
J
* S h ift v a lu e is th e d iffe ren ce be-
/■— \
tw een ta u g h t p o sitio n an d p o sitio n to
(c)
be sh ifte d , an d d isp lac em e n t of d eg ree
s h if t V a lu e *
(TX, TY , TZ) in tool co o rd in a tes.
Fig. A3. 15 Determining Shift Value with CRT Display
-
300 -
T h e s h ift v alu e is th e d iffe ren ce of X, Y o r Z on co o rd in a te sy stem betw een ta u g h t p o sitio n and p o si
tion to be sh ifted , and deplacem en t of deg ree TX, TY and TZ (norm ally, “ 0 ”).
W h e re th e sh ift by th e nam e in te rv a l is execu ted , ca lcu late th e d ifferen ce betw een ta u g h t p o sitio n an d
end sh iftin g position.
D ivide th is d ifferen ce (L) by th e n u m b e r of p itch es to o b ta in sh ift v alu e (L ).
See Fig. 9. 6 .
U se the p o sitio n d a ta d isp la y to be sh ifted co o rd in a te system .
N orm ally, use th e positio n d a ta d isp lay on b ase co o rd in a te system .
F o r th e sy stem w ith o u t ru n n in g
axis, b ase and ro b o t co o rd in a te sy stem s a re th e sam e.
i
L_________________
1
9
0
0
0
0
0
0
o - ------------ ------------Number of pitches
H -------------- ------------H
END SHIFTING
TAUGHT POSITION
POSITION
Fig. A3. 16 Calculation of Shift Value
W r is t o rie n ta tio n is defined by d isp lac em e n t of d eg ree in tool co o rd in a tes.
If th e sh ift v alu e is
registered by only in c re m e n ts in X, Y o r Z (TX, TY , TZ = 0 ), th e sh ift is ex ecu ted at th e sam e w rist
o rie n ta tio n as th a t ta u g h t.
T h e re fo re , d isp lac em e n t of w ris t o rie n ta tio n does n o t h av e to be re g iste re d .
Fig. A3, 17 Wrist Orientation
U se th e p o sitio n -d a ta d isp la y to be sh ifte d as
th e co o rd in a te system .
N orm ally, u se th e p o si
tio n -d a ta d isp la y on b ase c o o rd in a te sy stem .
For
th e sy stem w ith o u t ru n n in g ax is, b ase an d ro b o t
c o o rd in a te sy ste m s a re th e sam e.
Fig. A3. 18 Position-data Display
-
301 -
Base
coordinate
X
Y
Z
system
1042. 80 mm
100. 00 mm
500. 50 mm
A3.
(4)
2.11.
2 Composition of parallel shift value (Cont’d)
In p u t of in stru c tio n
' ■(O p e ra tio n on O p e r a to r ’s P a n e l)
• C allin g up th e d isp la y show n in Fig. A 3. 10.
DfSP
D e p re ss
DISP
Job
D ep ress
Job
Position
I f t I f F2
File
F3
Diagnosis
key.
so ft key.
M a s t e r job
F4
F5
L- c ÿ
B
("
d it
I— f*
D ep ress
EDIT
key.
B
D ep ress
Delete
F1
F2
F3
L i n e edit
Speed cbg
F4
F5
o
A C TV -JO B :
E D IT -JO B : S A M P L E - 1
Line:
Step:
Instruction:
0001
0002
0003
000
001
002
NOP
M O V L V=123
M O V L V=123
_ _
---- o -
0004
= = >
003
M O V L V ==560
S elect in stru c tio n g ro u p
In/Out
Sequence
Device
Shift
Samecond
Fig. A3. 10 Shift Instruction Display
-
302 -
Insert
so ft key.
In stru c tio n In p u t
Shift
S
I
D epress
Shift
F4
select shift
SFTON
SFTOF
p.
D epress
F1
F2
soft key to
F4
instruction.
SFTON
r.
,
1— ¡=p=j— s°ft key.
~F3~| I ¥ 4 X |~F5
If you want to stop the shift instruction,
depress
[ SFTOF
; pg~"|
s0^
key and
|---------- 1
ENTER |
Robot-axis
F1
F2
F3
— ck
key.
EX-axis
key.
EN T ER
(Example)
W hen using position-type variable “P01”
depress
ED T h e
soft k eys
User coord
Base coord
i— soft key.
F5
EH In p u t th e No. of p o sitio n -ty p e v a ria b le and
d e p re ss
Robot-axis
D epress — i
Robot coord
1
and
Tool coord
ap p e ar.
Specify th e c o o rd in a te sy stem to be sh ifte d by
d e p re s s in g soft key.
na
F o r sp e cify in g th e b ase c o o rd in a te sy stem , only d e p re ss
-
303 -
ENTER
key.
ENTER
keys.
A3.
2.11.
3 Parallel Shift Instruction
Table A 3 . 3 List of Parallel Shift Instructions
Instruction
Format
Function
Example
SFTON PCVariable No. >
RF, TF, UF#<User frame
SFTON
(Shift
SFTOF
(Shift
off)
2 . 11.
4
^
system
TF : Tool coordinate
system
UF#: User coordinate
^
system
Stops the
shift
operation.
SFTON
PI2
SHTOF
SFTOF
Application example of Parallel Shift
P a r tia l sh iftin g
LINE
STEP
IN STRU CTIO N
0000
000
NOP
0001
001
MOVJ
£
II
cn
o
©
o
(1)
on)
coordinate
0002
002
MOVL
V = 1 0 0 .0
0003
SFTO N
PCD
003
MOVL
O
o
o
i-H
II
>
0005
004
MOVL
II
>
0006
005
MOVL
V = 1 0 0 .0
SFTO F
0007
MOVL
006
0008
STEP
o
o
o
0004
l
2
3
4
<
H
H—
1
o
o
©
A3.
r RF : Robot
Starts the
shi f t
operation.
No. >
6
5
V —
-
304 -
S tep s 003 to 005 lo cated
b etw een SFT O N an d S F T O F
a re sh ifted .
(2)
S h iftin g th e e n tire jo b m otions
T h e p o rtio n s to b e sh ifte d m a y be sp ecified by sh ift in s tru c tio n s a s in (1). P a r tia l S h ifting, b u t th e
to -b e-sh ifted p o rtio n m ay also be d e sig n ated as a s e p a ra te job, as follow s :
sfto n
p e o n
Job to be
CA LL JOB : □ □ □
shifted
SFTO F
(3)
U se of sh ift a d d itio n /s u b tra c tio n
S ta c k in g o f w o rk p ie c e s
LIN E
STEP
0000
000
IN STRU CTIO N
S E T B00 0
0001
SUB P000 P000 ( F ir s t s h ift v alu e is z e ro e d .)
0002
—
* A
0003
001
MOVJ
0004
002
MOVL
0005
(P ick u p w orkpiece)
0006
003
MOVL
0007
004
MOVL
0008
0009
005
SFT O N P000
(Shift s ta rt)
MOVL
(Shifted position)
0010
(R elease w orkpiece)
0011
SFTO F
(Shift end)
0012
ADD P000 P001
(Shift v alu e is a d d e d fo r
n ex t o p eratio n .)
0013
006
MOVL
0014
007
MOVL
0015
0016
INC B00
—
JM P * A IF B00
< 6
0017
!
or i
ru w
i
SFTO F
-
A s s h ift d a ta is sto re d , th e sam e
s h ift d a ta m ay be u sed fo r unsta c k in g b y su b tra c tio n .
305 -
I
A3.
2. 11.
5
Continuous Operation of Parallel Shift
A fter p a ra lle l sh ift in s tru c tio n is executed , s h ift fu n ctio n is canceled at th e follow ing o p era tio n s.
•
E d it o p e ra tio n of jo b s (A lteratio n , deletion, ad d itio n )
•
M ovem ent of c u rs o r p o sitio n in s te p o r line of job
•
A lte ra tio n of jo b copy o r jo b nam e
•
A lte ra tio n of new job re g is tra tio n , jo b d eletio n o r selected job
1 . W h e re th e sh ift fu n ctio n is canceled by o p e ra tio n s ab o v e 1
^
W h en th e m a n ip u la to r is o p e ra te d again, use low sp eed o p e ra tio n to sto p it in
sta n tly in case of d anger.
In th is case, th e m a n ip u la to r w ill sto p a fte r re a c h in g d isp la y e d ste p w ith o u t r e
g a rd to th e cycle.
If the m a n ip u la to r is sto p p e d d u rin g low sp eed o p era tio n , it m oves at te ac h in g
speed w hen re s ta rtin g .
2 . If co n tro l po w er is tu rn e d off, th e p a ra lle l s h ift w ill be co n tin u ed .
-
306 -
A3.
2 . 12
Parallel Shift Job Conversion Function (Effective from V 4.00)
W h e n th e jig or m a n ip u la to r’s positio n is sh ifte d for the w o rk p iece com pleted teach in g , th e job is
m u st be to co rrec ted .
To d e c re a se th e c o rre c tin g tim e, use th is function.
A3.
2.
12.
1
Function
P a ra lle l sh ift jo b c o n v e rsio n fu n ctio n c o n v e rts job to new job by sh iftin g d e v iatio n d ista n c e of w o rk
piece, re m a in in g m a n ip u la to r’s position.
(In co n v e n tio n a l m ethod, th e m ovem ent of te ac h in g p o in t +
sh ift v alu e is execu ted by SFTO N and S F T O F in s tru c tio n s .
In th is fu n ctio n , th e
jo b is co n v e rted by
s h iftin g te ac h in g point.)
A fter job p o sitio n in g d a ta is ex e cu ted sh ift o p e ra tio n , it is co n v e rted to sh ifte d p o s i
tion d ata.
B efore c o n v e rtin g it, sav e th e job to flo p p y d isk or c re a te th e sam e job
by copying.
(
1)
Be s u re to specify th e co o rd in a te sy stem ex ecu ted in th e shift.
U sab le co o rd in a te sy stem s a re show n below.
B ase c o o rd in a te sy stem
R obot co o rd in a te sy stem
Tool co o rd in a te sy stem
U ser c o o rd in a te sy stem ( 8 types)
T h e sh ift fo r on ly e x te rn a l ax e s is fixed on ro b o t c o o rd in a te system .
(2 )
T h e re are tw o c o n v e rsio n m ethods as follow s.
S ingle c o n v e rsio n 1 N orm ally, th is is used.
B atched c o n v e rsio n ! U sed w hen w o rk p ie c e s a re ta u g h t by d iv id in g in m u ltip le jobs.
(a )
Single con v ersio n
E ven if th e jo b to be co n v e rted h a s JU M P o r CA LL in stru c tio n an d it is re la te d to m u ltip le
jobs, only th e job to be co n v e rted is shifted.
-SH IFT E D
-N O T S H IFT E D
Fig. A3. 19
(b)
Single Conversion
B atched co n v e rsio n
T h e jo b to be co n v e rted is sh ifte d w ith re la te d
jobs.
—
Fig. A3. 20
-
Batched Conversion
307 -
S H IFT E D
A3. 2. 12. 1 Function (Cont'd)
(3)
A fter p a ra lle l s h ift co n v e rtio n , “/ 0 V ” is d isp la y e d in ste p w hich is p o sitio n ed o u t of th e m a n ip u la
to r ’s w o rk in g envelope.
“ 0 V ” d is p la y goes o u t a fte r c o rre c tin g th e position.
W h en th e jo b is co llated a fte r th e job in c lu d in g th e ste p ex ceeded w o rk in g en v elo p e is sa v ed to
floppy d isk , a
co llatio n e r r o r w ill o ccu r.
W h e n it is loaded, th e ste p exceeded w o rk in g en v elo p e is n ot d isp la y e d “/O V ” . B e c a re fu l of this.
(4)
T h e p o sitio n v a ria b le s a re not o b ject of p a ra lle l s h ift co n v ersio n .
-
308 -
A3. 2. 12. 2
Operation
(D e scrip tio n )
■ (O peration on O p e ra to r’s P a n e l) -
D ep ress
D e p re ss
0P1
key.
I OPTION |
,------- .
so ft key.
F5
D e p re ss
jMODPS JOB |
,
,
rF sn
and
SEL. JOB
F1
k ey s to call up th e job to be p a ra lle l sh ift.
jTpä]| ra || r* ifwlffr
O
TEACH MODE
ACTIVE JOB : * * * * * * * * L : * » * * S : * * *
PAUSE
1990/04/17/12 : 20............................................................................
JOB LIST
EDIT JOB : SAM PLE
JOB TOTAL : 12
M E M O RY : 1470 BYTES
POSITION:
No.
L : 0000
S : 000
REM AIN S : 31390BYTES
112 POINTS REM AIN S : 2128POINTS
JOB NAME POSITIONS
PROG. DAT E /T IM E PROTECT SAVE TYPE
264(27)
1990/04/17 10 : 14
00001 : SAMPLE
00002 : SAMPLE1
00003 : SAMPLE2
192(18)
1990/04/17
10 : 18
U 0( 5)
1990/04/17
00004 : SAMPLE3
129(10)
1990/04/17
io : 20
io : 21
00005 : SAMPLE4
96 ( 6)
1990/04/17
10 : 23
00006 : SAMPLE5
72 ( 3)
1990/04/17
10 : 26
00007 : SAMPLE6
120( 9)
1990/04/17
io : 30
00008 : SAMPLE7
112 ( 8)
1990/04/17
10 :32
00009 : SAMPLE8
104( 7)
1990/04/17
10 : 35
00010 : SAMPLE9
80 ( 4)
1990/04/17
10 : 37
= => Cursor on job name to search.
ABC
ABC
Mark
Pagel
PageT
Fig. A3. 21 List of Jobs
-
309 -
so ft
A3. 2. 12. 2 Operation (Cont’d)
Set th e c u rs o r on th e job to be p a ra lle l sh ifted by
□
o
u sin g
ENTER
Î
or
i
key, an d d e p re ss
key.
T h e job to be p a ra lle l sh ifted can also be called
up by in p u ttin g th e jo b nam e d irec tly .
T h is o p e ra tio n is not re q u ire d w hen
th e job to be sh ifted and the ed it job
coincide.
(S pecification of p o sitio n v a ria b le to be sh ift)
I SEL. F IL E !
m
=
<3
---------- ^
^
j SEL. J O B
S E L . FILE
F1
F2
TEA C H MODE
1 9 9 0/ 04 /1 7
D ep ress
SINGLE JOB
F4
F3
.------- ,
r F 2i
so ft key.
All exchg
F5
>
A C TIV E J O B :
***
PAUSE
12 : 00 ................... - ......................................................-....................
M O D PSJO B
E D IT JO B : S A M P L E
HP*
L : 0000
S : 000
HEX*
s
*
L
*
U
R
*
*
B
*
T
*
= => C u r s o r o n t h e pos -va r.
Robot
Ex-axis
Exit
Fig. A3. 22 Position Variable Specification Display
S pecify th e p o sitio n v a ria b le (sh ift value) by de-
■=>
Robot
E x -axis
Exit
p re s s in g
keys.
<3
F1
F2
F3 J| F4.
F5
t>
Robot
F3
and
T h e sp e cifie d d a ta a re d isp lay e d .
— 310 -
| Ex-axis
ptt. i
F4
|
so ft
Exit
A fter ch eck in g the d ata, d e p re s s
Robot
<3
F1
F2
E x -axis
F3
Exit
F4
F rT
soft key. T h e so ft k ey s re tu rn to in itial display.
F5
t>
(S pecificatio n of co n v e rsio n mode)
SINGLE JOB
D ep ress d e s ire d so ft key
SEL. J O B
S E L FILE
m
SINGLE JOB
All exchg
i
F5
exch9
E l E S H L f 4ILf5.fb
T E A C H M ODE
1990/04/17
A C T IV E :
*
*
*
*
*
*
*
P AUS E
12 : 00 ............................................................................
M O D PS JO B
Shift the jo b a s below.
L : 0000
S : 000
M O D PS JOB
SAM PLE
SAM PLEl
SA M PLE2
SA M PLE3
SA M PLE4
SAM PLES
S A M PLE6
SA M PLE7
S A M PLE*
SA M PLE9
SA M PLE10
SAM PLEl 1
In
b atch ed
co n v e rsio n ,
n o n -re g is te re d
e x ists, th e
= = > S elect coord, to shift.
ch ild
erro r
if
job
m assage
“D id n o t p ro g ra m th e r e la
¡B a s e c o o r d |
¡R o b o t coord)
| T o o l co o rd |
j U s e r c o o rd |
| Resum e
tiv e jo b .” w ill b e d isp lay ed
on m assag e line.
Fig. A3. 23 List of Conversion Job
S elect c o n v e rsio n co o rd in a te system .
Hase coord
Robot coord
Tool coord
User coord
Resume
W h e n d e p re ssin g
User coord
F4
<
F5
so ft key, in p u t u se r
>
c o o rd in a te N o. to be sh ifted
by u sin g d ig it keys.
-
311 -
I
A3. 2. 12. 2
Operation (Cont’d)
I
T E A C H M OD E
1990/04/17
A C T IV E JO B : * * * * * * * * * L : * * * » S : * ♦ *
12 : 00
PA U SE
T h is d isp la y w ill a p p e a r.
.............................................................................................
M O D PS JO B
L : 0000
S : 000
S H IF T F IL E N o. : # P 001
#EX *
SHIFT JOB NAM E: S A M P L E
CONVERT. FR
R e m ain ste p s
: U SE R -F R . 7
: 123
L
Resume
Execute
Fig. A3. 24 Parallel Shift Job Execution Display
10
Execute
Execute
A fter ch eck in g th e c o n te n ts, d e p re s s
F5
F5
so ft key to ex ecu te p a ra lle l s h ift jo b co n v e rsio n .
A fte r co m p letin g th e c o n v e rsio n , th e d is p la y is
ch an g ed a u to m atica lly to jo b c o n te n ts d isp lay .
T E A C H M OD E
1990/04/17
A C T IV E JO B : * # * * * * ♦ L : * * * * S : * * *
12 : 00
M OD PS JO B
L IN E :
5000
STEP :
000
3001
PA U S E
.........................................................................................
L : 0000
S : 000
in p u t
is
not
d u rin g
th is
co n v ersio n .
NOP
JU M P JO B : SAM PLE1
3002
K ey
accep ted
W h en e x e cu tin g b a tc h
JU M P JO B : SA M PLE2
3003
001
M O V J V J = 50.00
ed
3004
002
3005
se a rc h of ch ild jo b w ill
ta k e a few m in u tes.
003
M O V J V J = 50.00
M O V J/O V V J = 50.00
3006
004
M O V J V J = 50.00
3007
005
M O V J V J = 50.00
3008
c o n v e rsio n ,
If a n a la rm is g e n e r
END
ated,
= => E rro r 2320 : W rong d a ta in th e co n v e rted job.
th is
co n v e rsio n
w ill be in te rru p te d .
I SEL. JOB |
| SEL. FILE (
[
th e
|
1 SINGLE JOB |
1ALL EXCHG j
Fig. A3. 25 Job Contents Display
-
J
312 -
A3.
2. 13
External-axis Block Function (Effective from V 4.00)
Y ASNAC ERC can c o n tro l up to 12 ax e s sim u ltan eo u sly .
T h e system c o n s istin g of ro b o t ax es an d e x te rn a l ax e s (tra v e l an d ro ta tio n axes) is v e ry com plex.
T h erefo re, th e te a c h in g w hile p ay in g a tte n tio n to all ax es o p e ra tio n s is v e ry d ifficult.
a re o p e ra te d erro n eo u sly ,
If e x te rn a l axes
th e tool may be b ro k en an d th e o p e ra to r m ay be in ju red .
T o ease th e te ac h in g and p re v e n t h a z a rd o u s co n d itio n s, u se th is function.
A3.
2 . 13.
1
Function
T h is fu n ctio n lim its e x te rn a l ax e s o p e ra tio n by u sin g e x te rn a l in p u t sig n als.
T h is is ap p lied to a s y s
tem w hich d iv id e s e x te rn a l axes into tw o g ro u p s, as show n below.
W h en th e m a n ip u la to r is o p e ra te d in g ro u p 1 , th e e x te rn a l ax es in g ro u p 2 sh o u d be ta u g h t so th a t it
does not move.
T o p re v e n t h a z a rd o u s c o n d itio n s such as e rro n e o u s o p e ra tio n of e x te rn a l ax e s in g ro u p 2 , u se th is fu n c
tion.
T h is can also lim it d u rin g PLAYBACK o p eratio n .
G ro u p 2
G ro u p 1
(U sed ext. ax es 1 an d 2 )
(U sed ext. axes 3 an d 4 )
Fig. A3. 26
(1)
External Axes Block Function
C o n ten ts of se ttin g d a ta
T h e s e ttin g of ax is selectio n and e x te rn a l in p u t sig n al fo r each g ro u p is se t by p a ra m e te rs sh o w n in
T a b le A 3 . 4 .
-
313 -
I
A3. 2. 13. 1 Function (Cont’d)
Table A3. 4 Parameter and Setting Contents
P a r a m e te r No.
S e ttin g C o n ten ts
SC 17 3 *
(Effective from V4.10)
E x te rn a l a x is block a llo w a b le v alu e (pulse)
In itia l v a lu e : 0
SC284
E x te rn a l a x is se ttin g s in g ro u p I
SC285
E x te rn a l a x is se ttin g s in g ro u p 2
SC286
S p e c ific a tio n of g e n e ra l p u rp o se in p u t N o. to b lo c k th e e x te r n a l a x is m o tio n s
in g ro u p 1
(M otion p ro h ib it a t O FF)
SC287
S p e c ific a tio n of g e n e ra l p u rp o se in p u t N o. to b lo c k th e e x te r n a l a x is m o tio n s
in g ro u p 2
(M otion p ro h ib it a t O FF)
* : W hen th e e x te rn a l blo ck function is used an d em erg en cy sto p is perfo rm ed , an a la rm o ccu rs a t rea ctiv a tio n .
(B ecau se a x e s w hich h a v e b lo c k d esig n atio n c h a n g e som e p u lses fro m th o se a t p o w e r O FF.)
T o so lv e th is p ro b le m , th e e x te r n a l a x is b lo ck a llo w a b le p u lse v a lu e is s e t by th is p a r a m e te r a n d
m o tio n is possible if m oving am o u n t of an a x is w ith b lo ck d esig n atio n is w ith in th e a llo w ab le v alu e ran g e.
S et th is p a r a m e te r to a n y v alu e b e fo re u s in g e x te r n a l- a x is b lo c k fu n c tio n .
In th is T ab le, e x te rn a l a x is s e ttin g s in g ro u p s 1 an d 2 (SC284 an d SC285) a re sh o w n below .
I— 1 s t e x te rn a l axis
--------- --2 nd e x te rn a l ax is
--------------- --3 rd e x te rn a l axis
------------------------4 th e x te rn a l ax is
----------------------------- -5 th e x te rn a l ax is
—I—
-------------------------------- — 6 th e x te rn a l ax is
A lw ay s se t at 0 .
•
T h e e x te rn a l a x is w h ich lim its m otion sh o u ld be se t a t 1 .
•
P a ra m e te rs SC286 and SC287 a re se t in ran g e of co n n ectin g g en e ral p u rp o s e in p u ts (96 p o in ts
max.)
•
W hen th is fu n ctio n is n o t used, se t p a ra m e te rs SC286 an d SC287 to 0 .
-
314 -
A3. 2. 13. 2 Example of Usage
F ig. 3. 27 show s a ro b o t sy stem of 2 g ro u p s using 4 e x te rn a l axes.
T h is is an e x a m p le in w hich th e o p e ra to r se ts w o rk p iec es in g ro u p 2 w hile th e m a n ip u la to r is w o rk in g in
g ro u p 1.
G roup 2
G ro u p 1
(U sed ex t. a x e s 1 an d 2)
(U sed ex t. a x e s 3 an d 4)
Fig. A3. 27 Example of Usage
(1)
S e ttin g d a ta
G roup 1 : E x te rn a l a x is blo ck g ro u p 1
E x e c u te s b lo c k of g ro u p 1 by th e sig n al of g e n e ral-p u rp o se in p u t N o. 1.
G roup 2 : E x te rn a l a x is b lo c k g ro u p 2
E x e c u te s b lo c k of g ro u p 2 by th e sig n al of g e n e ral-p u rp o se in p u t N o. 2.
S e t th e p a ra m e te rs fo r sp e cific atio n above.
• G roup 1
SC 284 : 12 (00001100)
L im its e x te rn a l a x e s 3 an d 4 by g en e ral-p u rp o se in p u t 1.
SC 286 : 1
• G ro u p 2
SC 285 : 3
(00000011)
L im its e x te rn a l a x e s 1 an d 2 by g e n e ral-p u rp o se in p u t 2.
SC 287 : 2
(2)
O p e ra tio n
• O p e ra tio n p ro g ra m is ta u g h t w h ile e x te rn a l a x e s re g a rd le ss of te a c h in g a re fix ed firm ly in th e
co n d itio n s below .
(i)
A t te a c h in g of p ro g ra m in g ro u p 1, se t g e n e ral-p u rp o se in p u t No. 2 to O F F an d N o. 1 to ON.
(ii)
A t te a c h in g of p ro g ra m in g ro u p 2, se t g e n e ral-p u rp o se in p u t N o. 1 to O F F an d N o. 2 to ON.
If g e n e ra l-p u rp o se N os. 1 an d 2 a r e set to O FF , th e e x te rn a l a x e s in b o th g ro u p s ca n
n o t m ove.
• S et th e c o n d itio n s a s show n belo w d u rin g p la y b a c k o p era tio n .
(i)
D uring w o rk p ie c e
in sta lla tio n in g ro u p 1, se t g en e ral-p u rp o se in p u t sig n al 1 to O F F an d 2 to
ON.
(ii)
D uring w o rk p iec e
in sta lla tio n in g ro u p 2, se t g e n e ral-p u rp o se in p u t sig n al 1 to O N an d 2 to
O FF.
In th is case, w h ere th e e x te rn a l a x is to lim it th e o p e ra tio n is co m m an d ed , an a la rm w ill o cc u r an d
th e e x te rn a l a x is w ill n o t m ove. T h e re fo re , o p e ra to r ca n in stall w o rk p ie c e s safely.
-
315 -
A3. 2. 13. 3 Error and alarm
(1 ) E rro r
3030
E rro r Code
D isplay M essage
(Ext. a x is d ata)
N O T O P E R A T E U N D E R S E L E C T IN G E X T -A X E S BLO CK
(00000002) * - D isplay of e rr o r a x is
[W h en m u ltip le a x e s a re in e rro r, an a x is is d isp lay ed se q u en tially fro m th e
lo w est one.]
C ause
A t teach in g , th e e x te rn a l a x is w hich is se t a t “ N o m o v e ,” th e m o v e o p e ra tio n
is trie d by using te a c h p en d an t.
A ctiv e
• D epress
• D epress
CANCE L
Q j
k ey on o p e ra to r’s p an el only fo r e r r o r release.
k ey fo r th e e rr o r re le a se fro m te a c h p en d an t,
• T o o p e ra te th e e x te rn a l ax is, se t th e g en e ral-p u rp o se in p u t No. to O N .
008 1
E rro r Code
D isp lay ed M essage
C ause
No specified a x is
W hen se ttin g th e p a ra m e te r, an e x te rn a l a x is w hich d o es n o t e x is t in blocka x is se ttin g p a r a m e te r is set.
A ctiv e
D epress
CANCEL
k e y on o p e r a to r ’s p an el to re le a se th e e rro r, a n d ch e ck th e
d a ta of p a ra m e te rs SC 284 an d SC 285.
(2)
A la rm
A larm Code
1760
D isp lay M essage
(Ext. ax is data)
UNDER SELECTIN G E X T -A X E S BLOCK
(1
2
3
4
5
6 )«—T h e ax is No. d u rin g alarm is d isp la y e d in re v e rs e
color.
C ause
Y A SN A C ERC ex ecu tes m otion com m and to th e e x te rn a l a x is w h ich is se t so
th a t it does n o t move.
A ctive
F o r only re s e ttin g th e alarm , d e p re s s
[~F5~|
so ft key.
W h en th e m a n ip u la to r is o p e ra te d a fte r re s e ttin g th e alarm ,
g e n e ra l-p u rp o s e in p u t No. to d e te rm in e m o tio n of e x te rn a l ax is.
-
316 -
tu r n
on
A3. 2. 14 Position Correction Function During Playback (Effective from V4.20)
T h e p o sitio n c o rre c tio n fu n c tio n d u rin g p la y b a c k is u sed to c o r r e c t p o sitio n s by e a sy o p e ra tio n w ith o u t
m a k in g th e ro b o t sto p w’hen te a c h in g p o sitio n is ch a n g ed by c h e c k in g ro b o t o p e ra tio n sta tu s.
T h is fu n ctio n c a n c o r r e c t th e follow ing d a ta ite m s b y th e o p e r a to r ’s p an el k e y input:
• T e a c h in g p o sitio n
• O p e ra tio n speed
• P o sitio n in g level
A3. 2. 14. 1 Function
(1)
C o n te n ts of d a ta to be ch a n g ed
T h e follow ing d e sc rib e s th e d a ta re q u ire d fo r p o sitio n change:
Jo b n a m e
: In p u t jo b n a m e to b e changed.
S tep N o.
: In p u t ste p N o. to b e ch anged.
C o rre c tio n a m o u n t A X : In p u t in c re m e n ta l v alu e in X d ire c tio n of c o o rd in a te to b e ch an g ed .
C o rre c tio n a m o u n t A Y : In p u t in c re m e n ta l v a lu e in Y d ire c tio n of c o o rd in a te to b e ch an g ed .
C o rre c tio n a m o u n t A Z : In p u t in c re m e n ta l v alu e in Z d ire c tio n of c o o rd in a te to be ch an g ed .
C o rre c tio n a m o u n t A V ! In p u t in c re m e n ta l v alu e of speed.
(2)
P L /C O N T
: In p u t P L (p o sitio n in g level) o r C O N T (co n tin u o u s o p e ra tio n speed)
C o o rd in a te
: In p u t c o o rd in a te sy stem to b e ch anged.
R a n g e of d a ta to be ch a n g ed
T h e fo llo w in g sh o w s th e in p u t r a n g e of d a ta to b e changed:
N o. of ste p s
: U p to 10 s te p s c a n b e ch a n g ed a t once.
P o sitio n ch a n g in g r a n g e (X,Y ,Z) : U n it m m , e ffe c tiv e d ow n to 3 d ec im a l p laces,
in itia l v a lu e ±
10m m
S peed ch a n g in g r a n g e (V)
: U n it % , e ffe c tiv e d ow n to 2 d ec im a l p la ce s, up to ± 5 0 %
P L /C O N T ch a n g in g r a n g e
I 0 to 4, C O N T
C o o rd in a te
: R o b o t co o rd in a te , b a s e co o rd in a te , to o l c o o rd in a te ,
u s e r c o o rd in a te (in itial c o o rd in a te : r o b o t c o o rd in a te )
(3)
P re c a u tio n s
• E x te rn a l a x is d a ta a r e n o t chang ed .
• C o rre c tio n a t T C P in stru c tio n e x e c u tio n is p e rfo rm e d b y te a c h to o l d a ta .
• A n e r r o r o c c u rs if P L o r C O N T is n o t p ro v id ed in th e ste p to b e ch an g ed .
• A n e r r o r o c c u rs if te a c h in g in th e u se r c o o rd in a te is n o t p e rfo rm e d w h en th e u s e r c o o rd in a te is to
be changed.
• S te p s of p o sitio n v a ria b le s a n d re fe re n c e p o in ts (R E F P ) a r e n o t ch an g ed .
-
317 -
A3. 2. 14. 2 Operation
(D e sc rip tio n )
■ (O peration on O p e r a to r ’s p a n e l>
C all p o sitio n c o rre c tio n (P A M ) fu n ctio n d u r
ing p la y b a c k .
Hi
opi
OPTION
PAM
F5
F5
D ep ress
0P1
key.
OPTION !
D ep ress
D ep ress
T E A C H MODE
A CTV -JO B
* * * * * *
L: * * * * S: * * * ON STOP
1990/04/17 12 : 00
EDIT-JOB
SA M PLE
L:0000
F5
PAM
F5
so ft key.
s o ft key.
C o r r e c tio n a m o u n t in p u t d is p la y
S:000
PAM
ap p e ars.
JOB NAM E :
SAM PLE^ 1 IN P U T COORD : ROB O T-FR.l
S T E P No.
A X (mm)
A Y (nun)
AZ(mm)
A V (% )
000
000
000
000
000
000
000
000
000
000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.000
00.00
00.00
00.00
00.00
00.00
00.00
00.00
00.00
00.00
00.00
| Data chg
P L /C O N T
-
-
CHG.coord |
Other job j
Set
Cancel |
Fig. A3. 28
Correction Amount Input Display
C all a jo b to be ch anged.
D ep ress
CHG.coord
Other jo b D a ta ch g
S e t~ "j
Cancel |
------------------------------------------------
l«J
F1
—
F2
F3
O\
F4
F5
)j
l>
-
318 -
I Other job |
.
,
s o ft key.
TEA C H MODE A C T IV E JOB : * * * * * * * * L : * * * * S : * * *
1990/04/17/12 : 20........................................................................
JOB L IS T
E D IT JOB : SA M PLE L : 0000 S : 000
JOB T O T A L : 12
PA U SE
T h e jo b list d isp lay a p p e a rs.
M o v e th e c u r s o r to a jo b w h o se
MEMORY : 1470 B Y T E S REM AINS : 31390BYTES
PO SITIO N : 112POINTS REM AINS : 2128POINTS
p o sitio n is to b e ch a n g ed an d d ep re ss
No.
JOB NAM E PO SITIO N S P R O G .D A T E /T IM E PROTECT SAVE TYPE
264(27)
1990/04/17 10 14
192(18)
1990/04/17 10 18
110( 5)
1990/04/17 10 20
00003 : SAM PLE2
129(10)
1990/04/17 10 21
00004 : SAM PLE3
1990/04/17 10 23
96 ( 6)
00005 : SAM PLE4
72 ( 3)
1990/04/17 10 26
00006 : SAM PLE5
1990/04/17 10 30
00007 : SAM PLE6
120( 9)
1990/04/17 10 32
112( 8)
00008 : SAM PLE7
104( 7)
1990/04/17 10 35
00009 : SAM PLES
80 ( 4)
1990/04/17 10 37
00010 : SAM PLE9
= = > C ursor on job nam e to search.
ABC
Page
A B C
I
key.
ENTER
00001 : SAM PLE
00002 : SAM PLE1
A lso, th e jo b c a n b e c a lle d b y in p u t
tin g th e jo b n a m e d irec tly .
W h en th e jo b d e s tin a tio n is c o m p le t
ed, th e d isp lay is c h a n g e d to th e
c o r r e c tio n a m o u n t in p u t d is p la y
(Fig.A 3.28)
Page T
Fig.A3.29 Job List Display
• S p ecify c o o rd in a te sy ste m to be ch an g ed .
[H
„
D ep ress
I
CHG.coord
r— — .
|
s o ft key.
T h e s o ft k e y s a re ch a n g ed as sh o w n on th e left.
S p ecify th e c o o rd in a te sy ste m to b e ch an g ed .
_________________^
(In itia l c o o rd in a te : ro b o t c o o rd in a te )
Base coord Robot coord Tool coord User coord
W h e n th e c o o rd in a te d e s ig n a tio n is co m p leted , th e
<1
Ft
F2
F3
F4
F5
>
-
d isp lay is ch a n g ed to th e c o rre c tio n a m o u n t in p u t
d isp lay (F ig A3.28)
319 -
•
In p u t c o rre c tio n am o u n t.
( S te p □ X, □ Y, □ Z, □ V»
M ove th e c u rs o r to d a ta to b e ch an g ed .
s
| Data chg |
D ep ress
" c :;:
<3
F1
Other job
F2
Data chg
F3
L -0
S et
F4
,------- ,
F5
so ft key.
F3
C a ncel
>
\ --------------
In p u t c o rre c tio n a m o u n t in n u m e ric a l v a lu e an d
d e p re ss
ENTER
key.
¡¡U9 ■' T h e m a x im u m v a lu e
(1 to 255m m ) of
p o sitio n ch a n g in g r a n g e (A X , A Y , A Z ) is
se t by p a r a m e te r SC296.
T h e sp eed ch a n g in g r a n g e is ± 5 0 % .
M o v e th e c u rs o r to P L /C O N T .
_
| Data chg. |
T h e n d e p re ss
CHG.coord
Other job
Data chg
F2
F3
Set
.-
-,
s o ft key.
C ancel
-----
<3
T h e s o ft k e y s a r e ch an g ed .
F1
F4
•si.. .
F5
>
m
|
PL
|
D ep ress
W h en
I
|
or
PL
|
I
320 -
|
so ^ ^ e y -
s o ft k ey is d ep re ssed , in p u t th e
level in n u m e ric a l value.
-
CONT
i pg I
W h e n c o r r e c tio n a m o u n t in p u t is c o m p le te d ,
Set
d e p re ss
I
Set
,------- ,
F4
|
so ft key.
T h e n th e fo llo w in g ite m s a re ch eck ed :
• T h e jo b is n o t p ro h ib ite d to b e ch an g ed .
• A n y c o o rd in a te th a t is n o t d efin e d f o r u s e r
c o o rd in a te h a s n o t b een specified.
• N o o th e r p la c e is se t w h en th e ste p N o. is 0.
(E rro r m a rk : st)
• T h e sa m e ste p N o. is n o t sp ecified re p e a te d ly .
(E rro r m a rk : sd)
• T h e sp ecified ste p is n o t a p o sitio n v a ria b le n o r
in s tru c tio n fo r p alletizin g .
• T h e ste p c o n ta in s speed.
<An e r r o r o c c u rs)
(E rro r m a rk : PO )
(E rro r m a rk : V)
If an e r r o r o ccu rs, th e e r r o r m a rk is d isp lay e d a t
th e le ft sid e of th e ste p N o. an d th e so ft k e y s a re
w a itin g fo r input.
CHG.coord
Other job
Data chg
Set
S e t d a ta ag ain .
C ancel
—
<t
F1
F2
F 3‘
F4
— r < --------
F5
>
<No e r r o r o c c u rs)
W h en no e r r o r o ccu rs, th e s o ft k e y s on th e le ft
a p p e a rs.
AT STOP
F o r c o rre c tio n d u rin g o p e ra tio n , d e p re ss
ON
Io n
m o v in g ]
I F5 I
F1
F2
F3
F4
so ft key.
F5
F o r c o rre c tio n d u rin g sto p , d e p re ss
| AT STOP ,
,
F4
,
so ft
key.
T h e n th e fo llo w in g ite m s a r e checked:
• C o o rd in a te c h a n g e lim it is n o t ex ceed ed .
(E rro r m a rk : * L )
• S p eed c h a n g e lim it is n o t ex ceed ed .
( E rro r m a rk : * V )
-
321 -
Bel
If a n e r r o r o ccu rs, th e e r r o r m a rk is d isp lay e d a t
th e le ft sid e of th e ste p N o. an d th e s o ft k e y s a re
w a itin g fo r in p u t. S e t d a ta ag ain .
W h en no e r r o r o cc u rs a n d jo b c o rre c tio n is c o m
p leted , th e d a ta in th e c o rre c tio n a m o u n t in p u t
d isp lay (Fig. A3. 28) is cleared .
• F o r c a n c e l o f c o rre c tio n
, „
I Cancel |
so ft
r o r ca n ce l of co rre c tio n , d e p re ss
,------- ,
m
key.
^
If an y of th e fo llo w in g f a c to r s o c c u rs b e fo re
c o rre c tio n ex e c u tio n , c o rre c tio n is a u to m a tic a lly
can celed .
• W h en “m o d e ” is ch a n g ed
• W h en a n “a la r m ” o r “e r r o r ” o cc u rs
• W h en th e p o w er su p p ly is tu rn e d off
• F o r line c le a r
L ine c le a r c a n b e p e rfo rm e d w h en w ro n g c o r r e c
tio n a m o u n t h a s b ee n in p u t o r w h en c o rre c tio n is
n o t n eed ed in a c e r ta in step .
CHG.coord
Other jo b
Data chg
Set
C ancel
D e p re ss
£>
k ey .
F1
F3
F4 F5
F2
<3
> 1ib*
-------------------------------------
M o v e th e c u rso r to th e lin e to b e c le a re d an d
d e p re ss
Line clear
-------
<3
F1
F2
F3
F4
F5
------ )
Line clear
t>
-
F1
322 -
s o ft k ey .
A3. 2. 14. 3 Error Message and Contents
“0170 U ndefined U S E R F R A M E F IL E ”
• A c o o rd in a te of w h ich u se r c o o rd in a te is n o t d efin ed h a s b een specified.
“ 1010 E d it-lo c k m o d e .”
• E d it lo ck h a s b ee n set.
“ 1020 E n te r c o r r e c t v a lu e .”
• S e t v a lu e of c o rre c tio n a m o u n t A X , A Y , o r A Z e x c e e d s th e sp ecified ran g e .
• S e t v a lu e of c o rre c tio n a m o u n t A V , e x c e e d s ± 5 0 % .
• S e t v a lu e of P L (p o sitio n in g level) is n o t w ith in 0 to 4.
• U se r c o o rd in a te se ttin g is n o t w ith in 1 to 8.
“2021 T h e JO B w ith in th e p r o te c t a r e a fo r e d it.”
• E d itin g p ro h ib it a ttr ib u te is se t to th e job.
“2040 U ndefined jo b .”
• A jo b th a t h a s n o t b ee n re g is te re d is set.
“2050 E n te r jo b n a m e to e d it.”
• T h e jo b fo r e d itin g is n o t set.
“2120 P o sitio n d a ta a r e f a u lt.”
• P o sitio n d a ta o f s e ttin g s te p fau lt.
“2320 W ro n g d a ta in th e c o n v e rte d jo b .”
• L im it is e x c e e d e d a t conversion.
“ 1090 Ille g al D A T A in th e file .”
• S te p is n o t set.
• P L /C O N T is n o t set.
• T h e s te p u ses p o sitio n v a ria b le s o r re fe re n c e p o in ts ( R E F P ) .
• T h e s te p d oes n o t h a v e sp eed o r P L /C O N T d esig n atio n .
• th e sa m e s te p N o. is re p e a te d .
-
323 -
A3. 2. 15 Data Save/Verify Function During Playback (Effective from V4. 20)
D a ta s a v e /v e rify fu n c tio n d u rin g p la y b a c k is a fu n c tio n to s to r e / r e a d d a ta fo r flo p p y d isk in th e p la y m ode.
D a ta ite m s re la te d to th is fu n c tio n a re sh o w n b elo w (th e s a m e a s th o se of flo p p y d isk o p e ra tio n in th e
te a c h m o d e ).
• Jo b d a ta
• C o n d itio n a l p ro g ra m d a ta
• A ll u s e r ’s p ro g ra m s
• P a r a m e te r s
• S y ste m d a ta
’ A ll d a ta in C M O S
• O th e rs
A3. 2.15. 1 Operation
*
-
■ (O p e ra tio n on O p e r a to r ’s P anel>
D ep ress
F1
F2
F3
F4
qpi
k ey
F5
(T E A C H M O D E)
Floppy
Tool
User coord SPEC.PNT OPTION
f < H i r i | 7 ü | 7 n | F« Il F5 |[F1
Floppy
1
D ep ress
-
324 -
Floppy
r~pj~i
1
s ° f t key.
D A TA IN T H E FLO PPY DISK
CLASSIFIED D A TA
□
□
□
■
■
■
■
U N -U SED MEMORY 30%
NOS OF FILE (FLOPPY)
12
2
JOBS
CONDITIONAL PROGRAM DATA
ALL U SER’S PROGRAMS
PA RA M ETERS
I/O SYSTEM DATA
ALL D A TA IN CMOS
O TH ER S
0
1
0
0
0
=> Cursor on data group to be transmitted and select the soft key.
FZ
F1
s
Formatting
Verify
Save
F3
F4
Delete
►
F5
T h e fo llo w in g p ro c e d u re s a r e th e sa m e as th o se of
flo p p y o p e ra tio n in th e te a c h m ode.
LEE
P la c e th e c u rs o r to th e d a ta c la s sific a tio n ite m to
b e tr a n s f e rr e d b y u sin g C U R SO R keys.
„
D ep ress
F1
<
F2..I F3
F4
F5
t>
o
R E G IS T E R E D F IL E S : 2
C O N D IT IO N A L P R O G R A M D A T A
•
A L L C O N D IT IO N A L D A T A
CDATA. D A T
•
W E A V IN G D A T A
W EAV. D A T
o
TOOL D A TA
TOOL. D A T
= = =>
C u rso r on th e file to tr a n s m it a n d p u sh [ E x e c u te ] .
Page I
4
A b o rt
P age Î
FI
F2
F3
F4
E x e c u te
F5
►
I
-
325 -
I
Save
r v - -,
\jT ]
I
|
or
Verify
, i_n ,
F3
|
so ft key.
till
P la c e th e c u rs o r to th e file n a m e to b e tr a n s f e rr e d
b y u sin g C U R SO R keys.
I Execute
Execute
D ep ress
| —■- ■|
|
s o ft key.
T h e n d a ta tr a n s f e r sc re e n a p p e a rs to s t a r t d a ta
tra n s fe r.
ö
FLO PP Y
<-------- M E M O R Y
T R A N S M IT T IN G F IL E
: CDATA. D A T
R E M A IN IN G B Y T E S
: 123
[S U P P L E M E N T ]
^
„
(1)
T h e p ro c e ss w h en
|Formatting |
.
F4
—.
|
or
Delete
...
F5
.
|
s o ft k e y is d e p re sse d is th e sa m e a s th a t in th e te a c h m ode.
P ro c e s s in d isp la y c h a n g e
D u rin g d a ta s a v e /v e rify p ro ce ssin g , d isp lay c a n b e ch an g ed .
T r a n s f e r ch e c k in g d u rin g p ro c e ssin g
W hen
OP1
k e y is d e p re sse d a g a in d u rin g d a ta s a v e /v e rify p ro cessin g , th e d a ta tr a n s f e r s c re e n
Floppy
is d isp lay e d a t th e tim in g w h e re
A3. 2. 15. 2
s o ft k e y is d ep ressed .
F1
Error and Alarm
F o r d e ta ils, r e f e r to th e e r r o r m e ssa g e of flo p p y o p e re tio n in th e te a c h m ode.
-
326 -
A3. 2. 16 Production Control Diagnosis Display Function (Effective from V4. 20)
T h is fu n c tio n is u sed fo r n a m e r e g is tra tio n o r d a ta c h a n g e in th e d ia g n o sis d isp lay by sp e cify in g u se r
v a ria b le s (n u m b er of p a lle tiz e d w o rk s, etc.) u sed fo r th e line c o n tro l b y u sin g p a ra m e te rs . A lso a fu n ctio n
to c h a n g e c o n d itio n s fo r c o n tin u o u s p a ra lle l sh ift is added.
A3. 2. 16. 1 Production Control Diagnosis Display
TEA C H MODE
A CTV-JOB:* * * * * * * L :* * * * S :* * * ON STO P
1990/04/17 12 : 00 ---------------------------------------------------------------------------Production D ata
EDIT-JOB: SAM PLE L:0000 S:000
Num. of Palletized w orks
T o tal num. of each ro t
Linel
Line2
12
1
Line3
1
Line4
1
L inel
123
Line2
Line3
32767
32767
Line4
32767
Switch of S H IF T O N /O F F
ON
= = > Select edit item
Set data
Fig.A3.30
Rename
Typical Production Control Diagnosis Display
• U se r v a ria b le d is p la y /s e ttin g
B y sp ecify in g B /I v a ria b le s used fo r th e line c o n tro l b y p a ra m e te r (v a ria b le d esig n atio n : M E10, b it
desig n atio n : M E11 to M E18) in th e p ro d u c tio n c o n tro l d iag n o sis d isplay, a n a m e c a n b e se t w ith in
1 6 -ch a ra cte r full size o r 3 2 -ch a ra cte r h a lf size an d v a ria b le d a ta c a n be c h a n g ed in th e d ia g n o sis display.
• P a ra lle l sh ift o p e ra tio n co n d itio n s e ttin g
C o n d itio n s fo r co n tin u o u s p a ra lle l sh ift o p e ra tio n c a n b e se t a t th e n e x t s ta r t in th e p ro d u c tio n co n tro l
d ia g n o sis d isplay.
In th e co n v e n tio n a l m eth o d , p a ra lle l sh ift v alu e w a s c le a re d a s a p ro ce ss a t ac cid en t o cc u rre n ce
w h ich h a v e b een o u t o f th e o p e ra tio n seq u ence an d m a d e th e jo b c u rs o r p o sitio n change.
In th e n ew m eth o d , [O N /O F F ] s e ttin g ca n be p e rfo rm e d ac co rd in g to th e w o rk e r ’s decision.
-
327 -
(1)
P a r a m e te r se ttin g (R efe r to P a r. A3. 2. 16. 3 “L ist of R e la te d P a r a m e te r s ”)
B v a r ia b le s /I v a ria b le s d isp lay e d in th e p ro d u c tio n c o n tro l d ia g n o sis d isp lay a r e d esig n ated .
: D isp lay 1 to 8 v a ria b le d e s ig n a tio n ( B /I v a ria b le s b it d esig n atio n )
M E10
M E11 to 18 : D isp lay 1 to 4 N o. d esig n atio n
T h e n u m b e r o f v a ria b le s to be d isp lay e d is up to 8 an d a r e d isp lay e d a t th e d isp lay lines sh o w n in Fig.
A3. 30 “ N um . O f P a lle tiz e d w o rk s L ine 1” to “T o ta l num . of e a c h r o t L in e 4”.
F o r e x a m p le , th e fo llo w in g d e sc rib e s ho w to d isp lay B01 in th e d isp lay line 1:
(D
S e t M E10 DO bit.
DO
D7
128
64
32
16
8
2
4
(bit designation : OFF : BYTE ON : INT)
1
D isp lay 1
D isp lay 2
D isp lay 3
D isp lay 4
D isp lay 5
D isp lay 6
D isp lay 7
D isp lay 8
®
(2)
S e t 1 to M E11 (v a ria b le N os. 0 to 99).
N a m e c h a n g e o p e ra tio n
M o v e th e c u rs o r to th e lin e h a v in g th e n a m e to b e ch an g ed , an d e n te r th e e d it m o d e. T h e n d ep re ss
Rename
F2
s o ft k ey to e n te r th e c h a r a c te r in p u t m ode.
A fte r in p u ttin g th e n am e, d e p re ss
enter
k e y so th a t th e n a m e w ill b e ch an g ed . N a m e s sh o w n in Fig.
A3. 30 a r e re g is te re d a t th e f a c to ry p rio r to shipping.
(3)
D a ta c h a n g e
M o v e th e c u rs o r to th e d a ta to be c h a n g e d an d d e p re ss
I Set data |
,
s o ft key , an d th e d a ta s e t m o d e is
e n te re d .
(4)
P a ra lle l sh ift o p e ra tio n co n d itio n s e ttin g
M o v e th e c u rs o r to th e p a ra lle l sh ift o p e ra tio n line a n d d e p re ss
c a n b e se t b y th e so ft keys.
-
328 -
| Set data |
____ _____ _
. ^ . s o ft k ey , a n d L O N /O F FJ
A3. 2. 16. 3 List of Related Parameters
T h e fo llo w in g sh o w s th e list of p a r a m e te r s re la te d to th is fu n ctio n :
N o.
C la ssific a tio n
C o n ten ts
In itia l
V alu e
M E10
V a ria b le d e s ig n a tio n in h a n
dling d ia g n o sis d isp lay
D isp lay v a ria b le d e sig n a tio n (b it d esig n atio n )
(D isp lay 1 to 8) O F F : B v a ria b le s
O N : I v a ria b le s
0
ME11
V a ria b le N o. d e s ig n a tio n in D isp lay 1 v a ria b le N o. d esig n atio n
h an d lin g d ia g n o sis d isp lay
S p ecified by 0 to 99.
0
M E12
D isp lay 2 v a ria b le N o. d esig n atio n
S p ecified b y 0 to 99.
0
M E13
D isp lay 3 v a ria b le N o. d e sig n a tio n
0
M E14
0
M E15
0
M E16
0
M E17
0
M E18
0
-
329 -
A3. 2. 17 Tool Angle Indexing Function (Effective from V4. 20)
T o o l a n g le in d e x in g fu n c tio n c a n in d e x an g le b e tw e e n a to o l a n d a w o rk p ie c e by e a sy o p e ra tio n a t ro b o t
o p e ra tio n p r o g ra m te ac h in g .
(F o r ex a m p le , an g le b e tw e e n a to o l a n d a w o rk p ie c e c a n b e se t to 30° . )
T h e re fo re , it is n o t n e c e s sa ry to m e a su re th e an g le b e tw e e n a to o l an d a w o rk p ie c e by u sin g a lev eller as
in th e c o n v e n tio n a l m e th o d . O p e ra tio n th ro u g h ro b o t te a c h in g c a n b e m u c h sim plified.
A3. 2. 17. 1 Outline of operation
O p e ra tio n a t to o l a n g le in d e x in g c h a n g e s th e to o l p o sitio n u n til th e sp e cifie d an g le a g a in s t th e X -Y p la n e
in an y o p e ra tio n c o o rd in a te sy ste m c a n b e o b tain ed .
F e a tu re s
• T h e an g le a ro u n d Z -a x is in th e to o l o p e ra tio n c o o rd in a te d o es n o t c h a n g e b e f o r e /a f te r an g le in d e x in g
o p e ra tio n .
(It c h a n g e s w ith in th e p la n e v e rtic a l to X -Y p lane.)
• C o n tro l p o in t p o sitio n d oes n o t c h a n g e b e f o r e /a f te r an g le in d e x in g o p era tio n .
• A x is d ire c tio n of th e to o l c o o rd in a te used fo r a n g le in d e x in g o p e ra tio n is only in Z -ax is d irec tio n .
: F o r a n g le in d e x in g o p e ra tio n , it is n e c e s sa ry to p e rfo rm to o l se ttin g an d c o o rd in a te s e ttin g
^
fo r w o rk p ie c e s c o rre c tly .
R e fe r to th e fo llo w in g m a n u a ls fo r to o l a n d c o o rd in a te s e ttin g m eth o d s:
• T o o l se ttin g
: A p p en d ix 4 “T O O L C O N S T A N T C A L IB R A T IO N F U N C T IO N ” of O P E R A T O R ’S
M A N U A L (TOE-C945-100)
• C o o rd in a te se ttin g
: A p p en d ix 5 “U S E R C O O R D IN A T E F U N C T IO N ” o f O P E R A T O R ’S M A N U A L
(TOE-C945-100)
F ig. A3. 31 S h o w s o p e ra tio n w h en in d e x in g is p e rfo rm e d a t (0°, 90° an d —30°) a g a in s t th e X -Y p la n e of
th e o p e ra tio n c o o rd in a te sy stem .
A N G L E : 90
Y u COORDINATE TO PERFORM
ANGLE INDEXING OPERATION
Yu
ANGLE : -3 0
ANGLE : 0
.. ^-30°
Yu
Yu
Fig. A3. 31 Tool Angle Indexing Operation
-
330 -
In o rd e r to p e rfo rm an g le in d e x in g o p e ra tio n , s e t in d e x in g an g le b y th e o p e r a to r ’s p an el in ad v a n c e an d
m o v e th e m a n ip u la to r u n til th e sp ecified an g le c a n b e o b ta in e d b y u sin g th e te a c h p en d an t.
(1)
In d ex in g an g le s e ttin g
In d ex in g an g le is se t b y th e o p e r a to r ’s p an el in ad v an ce.
f
(O p e ra tio n on O p e r a to r ’s P a n e l>
(D e sc rip tio n )
m H i
D ep ress
Floppy
Tool
key.
o pi
OPTION
User coord
OPTION
*
H>
I
D ep ress
OPTION
.
F5
I
,
an d
s o ft k eys.
MODPS JOB
Tool angle
I Tool angle|
I Tool angle
D ep ress
1 F2 1
,
,
s o ft key.
O
T h e n th e in d e x in g an g le s e ttin g
T O O L A N G L E M O T IO N
d isp lay sc re e n a p p e a rs.
ANGLE.No.
TOOL ANGLE
ANGLE.No.
TOOL ANGLE
1
O.Odeg.
5
—1O.Odeg.
2
30.0deg.
6
—30.0deg.
3
60.0deg.
7
—60.0deg.
4
90.0deg.
8
—90.0deg.
Data chg
-
331 -
P la c e th e c u rs o r to th e an g le to b e se t by using
C U R S O R k eys.
Data chg
Data chg
D ep ress
8 19
B
so ft key.
In p u t a v alu e to b e set.
ODD
T h e n th e d a ta ite m is
ch an g ed w h ere th e c u rs o r is lo cated ,
U p to 8 in d e x in g a n g les c a n b e set.
2 I 3
■
F2
T h e se ttin g
r a n g e is -90° to +90°.
O
E ig h t d o u b le-p recisio n ty p e s v a r ia b le s
a r e u se d f o r in d e x in g a n g le s e ttin g .
P a r a m e te r SC291 sp e cifies w h ich v a r i
a b le is used.
[E x a m p le : SC291 (9 2 )-»D92 to D99
u sed fo r in d e x in g an g le se ttin g ]
(2)
T o o l a n g le in d e x in g o p e ra tio n b y te a c h p e n d a n t
T o o l an g le in d e x in g o p e ra tio n is p e rfo rm e d by th e te a c h p en d a n t.
f
1
< O p eratio n on T e a c h P e n d a n t) 1
• A ngle in d e x in g o p e ra tio n
0 MB
+
W h ile h o ld in g do w n
d ep re ss
w
R
I
S T
1
0
0
-
332 -
key.
key,
[E
OFF
S ele ct in d e x in g an g le N o. (1 to 8) by using
and
and
ON
keys.
D ep ress [ j ^ J J key.
|fwd>
|F W O >
T h e n th e m a n ip u la to r s ta r t s an g le in d e x in g
o p era tio n .
[E x a m p le ]
D ep ress
+
ON
W R IS T 3
+
ON
k ey tw ice.
T h e d isp lay on th e le ft ap p e a re s.
60.0
O
key.
D ep ress
|F W D >
T h e n th e m a n ip u la to r s ta r t s an g le in d e x in g o p e ra
tio n an d co n tin u es th e o p e ra tio n u n til th e in c lin a
tio n b e tw e e n th e X -Y p la n e a n d to o l Z -a x is d ire c
tio n b ec o m e s 60°.
If th e m a n ip u la to r c u rre n t p o sitio n an d
s e le c te d in d e x in g a n g le a r e d if f e r e n t
w h en in d e x in g an g le is d isp lay e d o n th e
te a c h p en d a n t, th e an g le is d isp lay e d w ith
b lin k in g .
-
333 -
• D esig n atio n of c o o rd in a te sy ste m to p e rfo rm an g le in d e x in g
A ngle in d e x in g o p e ra tio n is p e rfo rm e d fo r th e c o o rd in a te w h ich is sp e cifie d b y th e c o o rd in a te LED of
th e te a c h p en d a n t.
[U ser] LE D lig h tin g I U ser c o o rd in a te c u rre n tly used
O th e r L E D s lig h tin g
: B a se c o o rd in a te
F o r th e ro b o t o p e ra tio n co o rd in a te , r e fe r to P a r. 6 “M A N IP U L A T O R M O T IO N (C O O R D IN A T E S )” of
O P E R A T O R ’S M A N U A L (TO E-C 945-100).
• M o tio n sp eed d e sig n a tio n
T h e m a n ip u la to r m o v e s a t a sp eed sp e cifie d b y th e te a c h p e n d a n t m a n u a l sp eed LED.
• D e sig n a tio n of m o tio n s
In te rp o la tio n sp e cifie d by th e te a c h p e n d a n t m o tio n ty p e LE D is p erfo rm ed .
[L in k ] LE D lig h tin g : J o in t o p e ra tio n is p erfo rm ed .
O th e r L E D s lig h tin g
: C o n tro l p o in t c o n s ta n t o p e ra tio n is p erfo rm ed .
W h en jo in t o p e ra tio n is p e rfo rm e d , th e c o n tro l p o in t d o es n o t c h a n g e b e f o r e /a f te r in d e x in g
Z
o p e ra tio n .
H o w ev er, c o n tro l p o in ts on p a th s a r e n o t a lw a y s th e sam e.
C A U T IO N : W h en a n g le in d e x in g o p e ra tio n in w h ich B -a x is a n g le sig n is re v e rs e d a s sh o w n in Fig.
A3. 32 is p e rfo rm e d , th e sig n of B -ax is an g le is s to re d an d th e m a n ip u la to r m o v e s to
th e sp e cifie d p o sitio n b y r o ta tin g R -axis.
In th is case, p e rfo rm an g le in d e x in g o p e ra tio n a f te r m o v in g th e m a n ip u la to r to th e a im e d p o sitio n w h e re
B -ax is a n g le sign w ill n o t b e re v e rse d in ad v an ce.
Fig. A3. 32
A3. 2. 17. 3
Error and Alarm
T h e fo llo w in g a la r m o c c u rs if f u rth e r an g le in d e x in g o p e ra tio n is p e rfo rm e d w h en to o l p o sitio n h a s been
in d e x e d to 90° o r —90° (o r w h en to o l z -a x is a n d o p e ra tio n c o o rd in a te z -a x is a r e in p a ra lle l).
A la rm 1010 A R IT H M E T IC P R O C E S S IN G E R R O R (D a ta 48)
If th is a la r m o ccu rs, p e rfo rm d e sire d an g le in d e x in g a f te r r e s e ttin g th e a la rm a n d ch a n g in g th e m a n ip u la
to r p o sitio n b y th e te a c h p en d a n t.
-
334 -
A3. 2. 18 External Axis Endless Rotation Function (Effective from V4.20)
(1)
O u tlin e of fu n ctio n
W h en e x te r n a l r o ta tin g a x is is re q u ire d to r o ta te co n tin u o u sly in th e e x is tin g Y A SN A C -E R C , it is
n e c e s sa ry to r e tu r n th e e x te r n a l r o ta tin g a x is c u rre n t v a lu e p u lses to th e so ft lim it m o tio n ra n g e by
r o ta tin g th e e x te rn a l r o ta tin g a x is re v e rse ly a f te r co m p letio n of co n tin u o u s ro ta tio n . (F o r ex a m p le ,
a f te r it is r o ta te d co n tin u o u sly up to th e p o ssib le + sid e so ft lim it an d th e o p e ra tio n is su sp en d ed
te m p o ra rily , it is n e c e s sa ry to p ro v id e te a c h in g b y re tu rn in g th e r o ta tin g a x is u p to th e p o ssib le —side
so ft lim it a n d c o n tin u in g th e o p e ra tio n a g a in as if th e o p e ra tio n co n tin u ed so a s n o t to e x c e e d th e so ft
lim it.) T h is is n o t need ed fo r m a n ip u la to r o p e ra tio n an d n o t p ra c tic a l co n sid erin g th e o p e ra tio n tim e.
T h e re fo re , in th e e x te r n a l a x is en d less r o ta tin g fu n ctio n , a f te r co m p letio n of c o n tin u o u s ro ta tio n ,
th e e x te rn a l r o ta tin g a x is rev o lu tio n s (c u rre n t v a lu e pulses) a r e c o n tro lle d an d r e s e t to th e d a ta
w ith in ± 1 re v o lu tio n b y in stru c tio n e x e c u tio n o r te a c h p e n d a n t o p e ra tio n .
In th is w ay, co n tin u o u s
r o ta tio n is p o ssib le w ith o u t re tu rn in g th e e x te r n a l r o ta tin g ax is.
T h e follow ing w ill d escrib e th e o u tlin e of th is fu n c tio n w ith so m e ty p ic a l p ro g ra m s.
a ) In stru c tio n s
S ince th is fu n c tio n re s e ts e x te r n a l r o ta tin g a x is rev o lu tio n s (c u rre n t v a lu e p u ls e s ), th e n e x t in s tru c
tio n is used.
W RESET 1
(R esets th e firs t e x te r n a l ax is.)
b ) In s tru c tio n re g is tra tio n
E x te rn a l r o ta tin g a x is c u rre n t v a lu e r e s e t in stru c tio n “W R E S E T ” is re g is te re d b y th e o p e r a to r ’s
p an e l a s follow s.
A fte r th e JO B to b e e d ite d is called ,
EDIT
k e y is se le c te d a n d th e c u rs o r is m o v e d to th e ste p
w hose e x te r n a l r o ta tin g a x is c u rre n t v a lu e is to b e re se t. T h e n th e W R E S E T in s tru c tio n is ca lled
b y th e s o ft k e y o p e ra tio n to re g is te r b y
ENTER
key.
(F o r d etails, r e f e r to p a r. A3. 2. 18. 3.(1) “E x te rn a l r o ta tin g a x is c u rre n t v a lu e r e s e t in stru c tio n
e d itin g .”)
c ) T e a c h p e n d a n t o p e ra tio n
W h en e x te r n a l r o ta tin g a x is re v o lu tio n s (c u rre n t v a lu e pu lses) a r e r e s e t b y th e te a c h p e n d a n t
o p e ra tio n , th e c u rre n t v a lu e p u lse s a r e r e s e t b y u sin g f u n c tio n s k e y s
f *1
(
ADDR
f -0
).
(F o r d etails, r e fe r to p a r. A3. 2. 18. 3. (2) “E x te rn a l r o ta tin g a x is c u rre n t v a lu e r e s e t b y te a c h
p e n d a n t”.)
-
335 -
d) T y p ic a l p ro g ra m
L IN E
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
STEP
000
001
002
003
004
IN S T R U C T IO N
NOP
M O V J E X V J = 20.00
M O V L E X V = 375.0
M O V L E X V = 50.0
005
006
M O V J E X V J = 20.00
M O V J E X V J = 25.00
M O V J E X V J = 50.00
007
M O V J E X V J = 30.00
T IM E R T = 0.5
W RESET 1
008
009
010
011
012
013
014
015
M O V L E X V = 30.0
M O V L E X V = 150.0
M O V J E X V J = 25.00
M O V J E X V J = 40.00
M O V J E X V J = 10.00
M O V J E X V J = 80.00
T IM E R T = 0.5
W RESET 1
M O V J E X V J = 50.00
M O V J E X V J = 30.00
END
(D e sc rip tio n o f ty p ic a l p ro g ra m )
L in es 1 to 3 : N o rm a l m o tio n is p erfo rm ed .
L in es 7 to 9 : E x te rn a l r o ta tin g c u rre n t v a lu e is re se t.
M a n ip u la to r sto p s fo r 0.5 seco n d a t e x e c u tio n o f th is in stru c tio n .
L ines 15 to 17 : E x te rn a l r o ta tin g c u rre n t v a lu e is re se t.
M a n ip u la to r sto p s fo r 0.5 seco n d a t e x e c u tio n of th is in stru c tio n .
(2)
L im ita tio n
a ) M e c h a n ism
D o n o t p ro v id e o v e rru n lim it sw itc h (LS) in o rd e r to m a k e en d less r o ta tio n fo r r o ta tin g ax is.
b ) H a r d w a r e (en d less r o ta tin g ax is)
F o r en d less r o ta tio n , u se a r o ta tin g a x is o f w h ich in te g ra l v a lu e is a v a lu e o b ta in e d b y d iv id in g
m o to r s h a ft 100,000 re v o lu tio n s b y re d u c tio n ra tio .
A3. 2. 18. 2
Instructions
W h e n e x te r n a l r o ta tin g a x is rev o lu tio n s (c u rre n t v a lu e pu lses) a r e re se t, th e fo llo w in g in s tru c tio n is
specified:
W RESET 1
T
In d ic a te s f ir s t e x te r n a l ax is.
W h en th is in s tru c tio n is e x e c u te d , sp e cify th e in s tru c tio n in th e m a n ip u la to r s to p s ta tu s fo r c u rre n t
v a lu e p u lse re se t.
-
336 -
A3. 2. 18. 3
(1)
Operation
E x te rn a l r o ta tin g a x is c u rre n t v alu e r e s e t in s tru c tio n ed itin g
a ) R e g istra tio n
f
< D escription>
(O p e ra tio n on O p e r a to r ’s P a n e l)
m
m iT )
P la c e th e c u rs o r to th e ste p in w h ich W R E S E T
in s tru c tio n is re q u ire d to set.
0 0
\Z \
EOT
D ep ress
I
D ep ress
Insert
□P
O
Other
H i
O
key.
edit
Insert
.
|
.
so ft key.
W RESET
I
\w -
Other
|
,------- ,
D ep ress
so ft key.
F5
I W R ESET I
D ep ress
a
B B S
B B S
BBB
BBB
O
,------- ,
s o ft key.
F5
In p u t th e e x te r n a l
|eENTER
n ter|
a x is
num ber
an d
key.
ENTER
b ) D eletio n
<D escription>
•(O p e ra tio n on O p e r a to r ’s p an e l)
m m m
P la c e th e c u rs o r to W R E S E T in s tru c tio n .
00
a xr
D e p re ss
I
Delete
D
D ep ress
Execute
key.
Delete
,
|
■.
s o ft key.
F5
I Execute
D e p re ss
-
337 -
,
F5
|
so ft key.
d ep re ss
(2)
R e se t o p e ra tio n m e th o d b y te a c h p e n d a n t
In th e e x te rn a ] r o ta tin g a x is en d less r o ta tio n sp e cific atio n s, p o sitio n te a c h in g an d L N R m o tio n c a n n o t
be p e rfo rm e d if e x te r n a l r o ta tin g a x is c u r r e n t v a lu e p u lse s e x c e e d th e s o ft lim it a t te a c h in g .
T h e re fo re , it is n e c e s sa ry to p e rfo rm W R E S E T o p e ra tio n b e fo re th e te a c h p e n d a n t o p e ra tio n .
a ) R e se t a x is se le c tio n
f
1
1
(O p e ra tio n on T e a c h P e n d a n t) 1
(D e sc rip tio n )
m
D ep ress
key.
flü
W h ile h o ld in g dow n
key,
o
w R E S E T
or
-h
ON
d e p re ss
1
I^ Q l
key.
S ele ct th e e x te r n a l a x is n u m b e r b y u sin g
OFF
or
OFF
key.
b ) R e se t o p e ra tio n
f m " *■' (O p e ra tio n on T e a c h P e n d a n t) ■
(D e sc rip tio n )
ffl
D ep ress
B fL + MS
o
E
S
E
key.
W h ile h o ld in g do w n
d ep re ss
W R
| |j |j i
T
-
338 -
1B W 1
key.
key,
4ON
W h ile h o ld in g dow n
+
k ey an d d e p re ss
key, re le a se
key.
If re s e t o p e ra tio n is p e rfo rm e d w h en th e e x te r n a l
r o ta tin g a x is c u rre n t v a lu e p u lses a re w ith in one
rev o lu tio n , “W R E S E T ” d isp la y e d in th e te a c h
p e n d a n t re m a in s an d w ill n o t b e ch a n g ed to th e
fo rm e r s te p display.
W h en
an d
k ey s are
and
d e p re s s e d a f te r
k e y s d ep ressed , k e e p d e p re ssin g
key. If
fHPPjj)
k e y is rele ase d , th e re s e t
o p e ra tio n c a n n o t b e p erfo rm ed .
W h en th e fo rm e r d isp lay is re q u ire d , d ep re ss
< For fo rm e r d isp la y )
B
ADDR
A3. 2. 18. 4
(1)
"
k ey o r
k e y tw ice.
lM i
Precautions
W R E S E T in stru c tio n e x e c u tio n
I t is n e c e s sa ry to e x e c u te th e W R E S E T in s tru c tio n w h en th e m a n ip u la to r sto p s c o m p letely b e c a u se of
th e in te rn a l p ro ce sses. (B y e x e c u tin g th e in s tru c tio n w h en th e m a n ip u la to r d o es n o t sto p co m p letely ,
e x te r n a l r o ta tin g a x is d islo c a tio n occurs.)
T h e re fo re , e x e c u te th e T IM E R in stru c tio n (T IM E R tim e: a p p ro x . 0.5 to 1.0 second) b e fo re
e x e c u tin g th e W R E S E T in stru c tio n .
-
339 -
(2)
W h en N W A IT in s tru c tio n is specified
W h e n th e N W A IT in s tru c tio n is a d d e d to th e m o v e in s tru c tio n b e fo re e x e c u tio n of th e W R E S E T
in stru c tio n , th e in stru c tio n is e x e c u te d a s th e m a n ip u la to r m oves.
If th e m a n ip u la to r m o v es
d u rin g e x e c u tio n o f th e W R E S E T in stru c tio n , th e e x te r n a l r o ta tin g a x is is d islo ca ted .
T h e re fo re , w h en th e N W A IT in s tru c tio n is sp ecified , m a k e p ro g ra m m in g so as to e x e c u te th e
W R E S E T in stru c tio n a f te r se ttin g th e C W A IT a n d T IM E R in stru c tio n s.
A ty p ic a l p r o g ra m is sh o w n below :
(T y p ic a l p ro g ra m )
L IN E
STEP
IN S T R U C T IO N
0000
0001
0002
000
NOP
001
002
0003
003
M O V J E X V J = 25.00
M O V L E X V = 500.0
M O V L E X V = 300.0
0004
004
005
M O V J E X V J = 50.00
M O V J E X V J = 50.00
0005
0006
006
0007
0008
0009
0010
0011
0012
0013
0014
M O V J E X V J = 30.00
T IM E R T = 1.5
D O U T O T#01 1
C W A IT
T IM E R T = 0.5
W RESET 1
007
M O V J E X V J = 25.00
008
M O V J E X V J = 50.00
END
(D e sc rip tio n o f ty p ic a l p ro g ra m )
L in es 1 to 6
: N o rm a l o p e ra tio n is p e rfo rm e d .
L in es 9 to 11
: A d v a n c e re a d in g p ro c e ss is sto p p e d by th e C W A IT in stru c tio n d e s ig n a tio n an d
T IM E R is e x e c u te d fo r 0.5 second.
co m p letely .
In th e m e a n tim e , th e m a n ip u la to r sto p s
T h e W R E S E T in s tru c tio n is e x e c u te d a f te r th e m a n ip u la to r
sto p s.
L in es 12 a n d 13
(3)
: N o rm a l o p e ra tio n is p e rfo rm e d .
C h e ck a t ap p lic a b le e x te r n a l a x is d e sig n a tio n fa u lt
T h is fu n c tio n c a n r e s e t only e x te r n a l a x e s w h ich a r e sp e cifie d b y SC p a r a m e te r a n d se t so th a t th e y
a r e u se d a s r o ta tin g a x e s.
If a w ro n g e x te r n a l a x is N o. o th e r th a n r o ta tin g a x e s sp e cifie d b y SC p a r a m e te r an d th e
W R E S E T is e x e c u te d a n a la rm (AL-1660: P ro c e s s e rr.(C o n tin u e s R o ta tio n )) o ccu rs.
H o w ev er, th e r e s e t p ro c e ss fro m th e te a c h p e n d a n t d o es n o t c a u se a n a la r m b u t is d isre g a rd e d .
-
340 -
a ) A p p lic ab le e x te r n a l a x is d e sig n a tio n SC p a r a m e te r
SC 250 : S e ttin g of E x te rn a l A x is (b it d esig n atio n )
D7
DO
-
l : 7 th A x is
-
2 :: 8 th A x is
-
4 :: 9 th A x is
-
8 :: 10th A x is
- 16 :: 11th A x is
- 32 :: 12th A x is
A dd th e ab o v e -m en tio n ed v alu e to a n a p p lic a b le a x is an d s e t it to th e p a ra m e te r.
b ) 1st to 3rd e x te r n a l a x is a p p lic a tio n d e sig n a tio n SC p a r a m e te r
SC 253 : U se of 1st to 3rd e x te r n a l a x e s
1s t a x is
:
2nd a x is
3 rd a x is
R o ta tin g a x is
R o ta tin g a x is
R o ta tin g a x is
X -A xis
R o ta tin g a x is
R o ta tin g a x is
Y -A xis
R o ta tin g a x is
R o ta tin g a x is
Z -A xis
R o ta tin g a x is
R o ta tin g a x is
X -A xis
Y -A xis
R o ta tin g a x is
X -A xis
Z -A x is
R o ta tin g a x is
Y -A xis
Z -A x is
R o ta tin g a x is
X -A xis
Y -A xis
Z -A x is
In o rd e r to m a tc h a p p lic a b le e x te r n a l a x is fu n ctio n , v a lu e s fro m 0 to 7 a r e se t to th e p a ra m e te r.
-
341 -
A3. 2. 19 Shift Amount Creation Function (Effective from V4. 20)
In th e e x is tin g p a ra lle l sh ift fu n ctio n , w h en p a ra lle l sh ift w a s a tte m p te d fo r m a n ip u la to r p o sitio n , th e
m a n ip u la to r could n o t a lw a y s be sh ifte d in p a ra lle l to th e aim ed p o sitio n in th e fo llo w in g cases:
• P o sitio n c h a n g e d isp la c e m e n t (T x , T y , T z ) w a s p ro v id ed fo r sh ift v alu e g iv en by user.
• D isp la ce m en t b e tw e e n tw o p o in ts w a s c a lc u la te d b y using IN F O R M o p e ra tin g in stru c tio n (ADD in stru c
tion, SU B in stru c tio n , e tc .) a n d p o sitio n c h a n g e d isp la c e m e n t (T x , T y , T z ) w a s p ro v id ed fo r sh ift
value.
In th is fu n ctio n , th e u se r c a n o b ta in th e o p tim u m sh ift v alu e fo r m o v in g to a im e d p o sitio n a u to m a ti
c a lly b y IN F O R M .
C o n sid erin g c a r te s ia n m o v in g a m o u n t an d p o sitio n d isp la c e m e n t am o u n t a c c o rd in g to th e re fe re n c e
p o sitio n a n d a im e d p o sitio n (sh ift p o sitio n ) a t p a ra lle l sh ift, th e sh ift v a lu e b e tw e e n th e se tw o p o sitio n s is
o b ta in e d in th e sp ecified c o o rd in a te sy ste m a n d se t to th e sp e cifie d p o sitio n v a ria b le s.
(1)
M S H I F T in stru c tio n (S h ift a m o u n t c re a tio n in stru c tio n )
C o n fig u ra tio n
I n stru c tio n
M S H IF T
© PDD D
R e m a rk s
S h ift v a lu e c o n v e rte d to X Y Z ty p e an d sto re d
: P o sitio n ty p e v a ria b le s
(P000 to P063)
(D B F
S h ift v a lu e c o n v e rsio n c o o rd in a te sy ste m s
RF
I R o b o t c o o rd in a te
TF
: T o o l c o o rd in a te
U F#
: U ser c o o rd in a te
(U F#1 to U F # 8)
R e fe re n c e p o sitio n (E ith e r p o sitio n v a ria b le s o r
( D P D n n : P o sitio n ty p e v a ria b le s
sy ste m s ta tu s c a n b e set.)
(P000 to P063)
$ POO ■ P u lse-ty p e c u rre n t v alu e
$ P01 : X Y Z -type c u r r e n t v alu e
$ P01 □
: R e fe re n c e p o in t p u lse-ty p e
p o sitio n d a ta
( $ P011 to $ P018)
© P D D n : P o s itio n ty p e v a ria b le s
A im ed p o sitio n (E ith e r p o sitio n v a ria b le s o r
(P000 to P063)
sy ste m s ta tu s c a n b e set.)
$ POO
: P u lse-ty p e c u r r e n t v alu e
$ P01
: X Y Z -type c u rre n t v alu e
$ P01 □
: R e fe re n c e p o in t p u lse-ty p e
p o sitio n d a ta
( $ P011 to $ P018)
S e ttin g c o o rd in a te sy ste m o f re fe re n c e p o sitio n
RF
: R o b o t c o o rd in a te
o r a im e d p o sitio n
UF#
: U se r c o o rd in a te
©BF
(U F#1 to U F # 8)
-
342 -
(2)
T y p ic a l in stru c tio n d e sc rip tio n
a ) W hen re fe re n c e p o sitio n a n d a im e d p o sitio n a re of p u lse ty p e
T h e in stru c tio n is d escrib ed a s sho w n b elo w w h en re fe re n c e p o sitio n a n d aim ed p o sitio n a r e of pulse
type:
M S H IF T
P000 _ R F P001 P002
(CD )
-------------- ®-------- ©— ©-------- 0 -------©--------®
P o sitio n v a ria b le in w hich sh ift v a lu e is sto red .
S to re d in X Y Z ty p e ev en if (3) an d © a r e of p u lse type.
(D
C o n v ersio n c o o rd in a te sy ste m of ® sh ift v alu e
In th is case, CD beco m es sh ift v alu e fo r ro b o t c o o rd in a te sy stem .
(3)
R e fe re n c e p o sitio n
©
A im ed p o sitio n
W hen (3) an d © a r e of pulse ty p e, © re fe re n c e p o sitio n a n d aim ed p o sitio n s e ttin g c o o rd i
n a te sy ste m d oes n o t h av e to b e specified.
b ) W h en re fe re n c e p o sitio n an d a im e d p o sitio n a r e o f X Y Z ty p e
T h e in stru c tio n is d e sc rib e d a s sh o w n b elo w w h en re fe re n c e p o sitio n an d a im e d p o sitio n a r e of X Y Z
type:
M S H I F T _P 000 _ R F _P001 _P 002 R F
-------------- ®-------- ©— ©-------- ®-------- ©—
®
P o sitio n v a ria b le in w hich sh ift v a lu e is sto re d .
©
C o n v e rsio n c o o rd in a te sy ste m o f ® sh ift v alu e
In th is case, ® b ec o m e s sh ift v alu e fo r ro b o t c o o rd in a te sy stem .
(3)
R e fe re n c e p o sitio n
©
A im ed p o sitio n
©
S e ttin g c o o rd in a te sy ste m o f re fe re n c e p o sitio n an d aim ed p o sitio n
In th is case, (3) a n d © b ec o m e p o sitio n s fo r ro b o t c o o rd in a te sy stem .
W h en (3) a n d © a r e of X Y Z ty p e, do n o t fa il to sp e cify © re fe re n c e p o sitio n an d aim ed
p o sitio n s e ttin g c o o rd in a te system .
-
343 -
A3. 2. 19. 2 MSHIFT instruction editing method
(1)
R e g istra tio n
(O p e ra tio n on O p e r a to r ’s P a n e l)
ITI
C all a jo b in w hich th e M S H I F T in stru c tio n
EDIT
D ep ress
is to be re g is te re d in th e te a c h m ode.
key.
EOT
In s e rt
A lte r
D e le te
Line e d it
Speed chg
---------------------------------- b
L
F1
<
F2
F3 ■
F4
F5
>
D ep ress
<3
F1
F2
F3
F4
F5
Insert |
. - .
so ft key.
I
Shift
rn
F4
>1
Shift
s
I
D ep ress
E E r
|
so ft key.
o
MSHIFT
SFTON
^
—
<
F1
F2
F3
SETOF
''
F4
F5
>
MSHIFT
D ep ress
I MSHIFT I
. - . s o ft key.
T h e sc re e n e n te rs th e d a ta se ttin g m o d e to se t
p o sitio n v a ria b le s in th e in p u t b u ffe r line.
-
344 -
a i
o
In p u t th e p o sitio n v a ria b le N o. in w h ich sh ift
D
m
BI
\
v alu e is to be sto re d an d d ep re ss
ENTER
o
#
o
S p ecify th e co n v e rsio n c o o rd in a te sy stem fo r sh ift
v alue.
Base coord User coord
<T| Fi
Tool coord Robot coord
F2.J] F3..J1 F4.JJ F5.JJ t>
O
ENTER
T h e n d ep re ss
O
-
345 -
ENTER
key.
Pos-var
T O ,
P-Status
or
D ep ress
[IP>.
I Pos-var |
F4
re fe re n c e p o sitio n .
or
| P-Status |
-------- s o ft k ey to se t
F5
T h e n d e p re ss
ENTER
key.
ENTER
O
P o s -v a r
Ip -S ta tu s
I-------------------------------------------------- 1
<3
F1
Pos-var |
F4
F2 | F3
F4
F5
t>
j P-Status
or
„
| Pos-var j
J P-status |
D ep ress
r^ n
or
i
i s ° f t k e y to se t
F4
F5
F5
O
th e aim ed p o sitio n . T h e n d e p re ss
ENTER
key.
ENTER
B a s e coord
«
F1
| Base coord |
F2
or
User coord
F3
F4
| User coord |
or
F5
o
ftobot coordl
I F5 I
S p e c ify c o o r d in a te s y s te m f o r r e f e r e n c e a n d
aim ed p o sitio n s.
T h e n d e p re ss
ENTER
k ey
ENTER
P e rfo rm th is c o o rd in a te sy ste m r e g is t r a
tio n o n ly f o r r e f e r e n c e p o s itio n a n d
a im e d p o sitio n of X Y Z type.
-
346 -
(2)
E d itin g
(D e sc rip tio n )
^ ^ “ ^ ^ " ( O p e r a t i o n on O p e r a to r ’s P a n e l ) ^ ^ ^ ^ “
QH C all a jo b in w hich th e M S H IF T in stru c tio n
is to be e d ite d in th e te a c h m ode.
D ep ress
EDIT
k ey an d p la c e th e c u rs o r to th e
M S H I F T in stru c tio n .
In s e rt
<
_
F1
A lte r
F2
D e le te
F3
Line edit
F4
Speed chg
F5
>
Line edit
D ep ress
I
,-------.
1™ I
Line edit 1
so ft key.
T h e in s tru c tio n line sp e cifie d b y th e c u rs o r is
co p ied to th e in p u t b u ffe r line.
T h e follo w in g
ed itin g c a n b e p e rfo rm e d in th e in p u t b u ffe r line:
• O nly n u m e ric a l d a ta in th e in s tru c tio n a re
ch an g ed .
• A d d itio n a l ite m s a r e p r o v id e d f o r th e
in stru c tio n .
• O nly a d d itio n a l ite m s th a t a r e n o t need ed
a r e d e le te d in th e in stru c tio n .
E d it th e M S H I F T in s tru c tio n fo r th e ab o v e p ro c e
d u res.
-
347
I
A3. 2. 19. 3 Typical program
(1)
T y p ic a l p ro g ra m u sing p o sitio n v a ria b le s
Line:
S tep:
In stru c tio n :
0000
000
NOP
0001
001
M O V J V J = 20.00 I
M o v e m a n ip u la to r to re fe re n c e p o sitio n .
S E T P000 $ P01 ;
S e t re fe re n c e p o sitio n to p o sitio n v a ria b le P000.
0002
M O V J V J = 20.00 ;
M o v e m a n ip u la to r to aim ed p o sition.
0004
0003
002
S E T P001 $ P01 ;
S e t aim ed p o sitio n to p o sitio n v a ria b le P001.
0005
M S H I F T P010 B F P000 P001 B F ! C re a te sh ift v a lu e an d s e t it to p o sitio n v a ria b le
P010.
0006
(2)
END
T y p ic a l p r o g ra m u sin g sy ste m s ta tu s
Line:
Step:
In stru c tio n :
0000
000
NOP
0001
001
REFP1 i
R e fe re n c e p o in t 1 (R efe re n ce p o sitio n )
0002
002
REFP2 I
R e fe ren ce p o in t 2 (A im ed p o sitio n )
0003
M S H I F T P010 B F $ P l i $ P12 ; C re a te sh ift v alu e an d se t it to p o sitio n v a ria b le
P010.
0004
END
A3. 2. 19. 4
Error and alarm
A la rm s o c c u rrin g a t e x e c u tio n of th e M S H I F T in stru c tio n a r e d e sc rib e d below :
A larm
No.
1370
M essage
U N DEFIN ED
REFEREN CE PO IN T
Cause
Although reference p osition h as
not been registered, system statu s
($ P 1 1 to
C orrective
A ction
R egister reference point after alarm
reset.
$ P18) w as used in
M S H IF T instruction.
1380
ILLEGAL POSITIO N
VARIABLE
M S H IF T instruction w as execut Change d ata type of shift am ount
ed when shift value storing posi sto rin g p osition v aria b le to XYZ
tion variable w as of pulse type.
type after alarm reset.
C oord in ate w as sp ecified w hen
Delete coordinate designation after
reference position and aim ed posi alarm reset.
tion w ere of pulse type.
1790
Undefined
U SER FRA M E FILE
User coordinate has not been reg Register user coordinate after alarm
istered.
reset.
-
348 -
A3. 2. 19. 5 Teaching example
T h e follow ing d e sc rib e s a te a c h in g e x a m p le u sin g sto p w ea v in g m u lti-la y e r w eld in g sy stem .
T e a c h in g is p e rfo rm e d w ith s ta r tin g p o in ts of firs t, seco n d
an d th ird la y e rs a s re fe re n c e p o in ts (R E F P 4, R E F P 5,
R E F P 6).
I
R e g iste r an in stru c tio n to call sh ift v a lu e c re a tio n jo b in
m u lti-la y e r c o n tro l job.
C A L L JO B : O F F M A K E
S e t p a ra lle l sh ift v alu e fo r e a c h la y er, a f te r th e seco n d
1st la y e r : R E F P 4 ( $ P14)
la y er, u sin g sa m p lin g jo b in th e firs t la y er, to p e rfo rm
2nd la y e r : R E F P 5 ( $ P15)
m u lti-la y e r w elding.
3 rd la y e r : R E F P 6 ( $ P16)
P010 : S h ift v alu e
P011 : S h ift v a lu e in 2nd la y e r
P012 : S h ift v a lu e in 3rd la y e r
JOB:T180circle-2
(M ulti-layer Control Job)
LINE:
STEP:
IN STRU CTIO N :
0000
0001
0002
000
001
NOP
MOVJ EX V J = 100.00
CALL JOB:TORCH CLEANER
0003
0004
SUB P010 P010
M U LTSA M JOB:T180 Circle IS
M ULTM DEY JOB:T180 Circle 2S
0005
0006
0007
0008
0009
0010
M u lti-la y e r c o n tro l jo b
002
003
004
S E T P010 P011
0011
0012
SPEED VE = 2.50
CALL JOB:T180 Circle 2S
0013
0014
CALL JOB:TORCH CLEANER
0016
0017
CALL JOB:T180 Circle 2S
END
->• T 180 C ircle IS
M u lti-lay e r jo b in 2nd la y e r a n d a f te r
-» T 180 C irc le 2S
— O FFM A K E
R E FP EX 5
R EFP EX 6
CALL JOB:OFFM AKE
S E T P010 P012
SPPED V E=3.00
1s t la y e r sa m p lin g jo b
O ffse t v a lu e c re a tio n jo b
JOB:T180 Circle IS
R E FP EX 4
0015
-» T180 Circle-2
-
349 -
• E x istin g ty p ic a l p ro g ra m o b ta in in g sh ift v alu e by u sin g o p e ra tin g in stru c tio n
JOB:OFFM AKE
(Shift V alue Creation Job)
LINE:
STEP:
IN STRU CTIO N
0000
0001
0002
000
NOP
CN V RT P000 $ P14
0004
CN V R T P001 $ P15
C N V R T P002 $ P16
S E T P010 P000
0005
0006
SET POU P001
S E T P012 P002
0007
0008
0009
SUB P010 P000
SUB POU P000
SUB P012 P000
RET
END
0003
0010
0011
• T y p ic a l p ro g ra m to c a lc u la te sh ift v alu e by u sin g o p e ra tin g in stru c tio n
T o o b ta in sh ift v a lu e b e tw e e n tw o poin ts, o p e ra tin g in s tru c tio n w a s used.
H o w ev er, “M S H I F T ” h as
b e e n p ro v id e d a s s h ift v a lu e c re a tio n in s tru c tio n so a s to sim p lify p ro g ra m m in g .
T h e fo llo w in g sh o w s a p ro g ra m e x a m p le c re a te d b y th e M S H I F T in s tru c tio n b a se d on th e ab o v e
job. C h an g e it fo r use.
JOB:OFFM AKE
(Shift V alue C reation Job)
LINE:
STEP:
IN STRU CTIO N :
0000
000
NOP
0001
M S H IF T P011 RF $ P14 $ P15
0002
M S H IF T P012 RF $ P14 $ P16
0003
RET
0004
END
-
350 -
A 4 TOOL CONSTANT CALIBRATION FUNCTION
T o o l'c o n s ta n t c a lib ra tio n fu n ctio n w ill a u to m a tic a lly c a lc u la te th e to o l c o n s ta n t by using c a lib ra tin g tool
d a ta , an d re g iste r th e c a lc u la te d v alu es in sp ecified to o l files.
T h e r e s u lt of th is function, o r th e se ttin g of th is d etailed tool d im en sio n s are n ot needed to o p era te
th e m a n ip u la to r, such as lin e a r o r c irc u la r in te rp o latio n , etc.
A 4. 1 MEANING OF TOOL CONSTANT
T h e tool c o n s ta n t is defined as th e T C P * for in te rp o latio n o p eratio n .
T h e se ttin g v alu es of tool c o n s ta n t a re re g iste re d in th e tool file as T C P p o sitio n d a ta on flange c o o rd in
ate s and co o rd in a te system data.
FLANGE COORDINATES
Xr
1Setting Values of Tool Files
TCP data
j on flange coordinates
R X i
R Y | Tool coordinate system data
RZ I
T C P m eans a tool ce n te r point, such as a tip of a rc w eld in g rod, th e ce n te r of a g rip p e r, o r a d eb u rrin g tool tip.
A 4. 2 DESCRIPTION OF TOOL DATA
T h e tool d a ta h a s th re e ty p e s as follow s :
• C a lib ra tin g tool d a ta :
T ool c o n s ta n t as b ase of T C P c a lib ra tio n
(autom atic g en eratio n ) is set.
S ta n d a rd tool d a ta :
Tool c o n s ta n t of s ta n d a rd tool b eing u sed is set.
•••Tool No. 0
M ultiple tool d a ta :
E ig h t tool c o n s ta n ts ex c ep t s ta n d a rd tool a re set.
T h ese d a ta a re effectiv e w hen m u ltip le T C P co n tro l
fu n ctio n (optional) is p ro v id ed in YASNAC ERC.
•••Tool Nos. 1 to 8
C a lib ra tin g tool d a ta sh o u ld be set b efo re s ta n d a rd o r m u ltip le tool d a ta is set.
-
351 -
A 4. 2. 1 Setting of Calibrating Tool Data
T he c a lib ra tin g tool d a ta is positio n and d ire c tio n of T C P from flange co o rd in a tes, w hich is form ed on
w ris t flange. (Fig. A 4. 3)
CARIBRATING TOOL
TOOL CENTER POINT
(TCP)
Fig. A 4. 2 Example of Calibrating Tool
Fig. A 4. 3 Flange Coordinates
S et th e c a lib ra tin g tool d a ta a s follow ing sequence.
•(O p e ra tio n on O p e r a to r ’s P anel)»
(D e sc rip tio n )
Call up th e c a lib ra tin g tool file.
D e p re ss
0P1
key
OP1
0
D e p re ss
Tool
so ft key.
0
D e p re ss '—
' so ft key.
F5
<1 [7T| |7T1 frâl [77]
-
352 -
I
□
D ep ress
\ CaiibToo^
so ft kgy
F2
T ool file d isp la y a p p e a rs.
Fig. A4. 4 Tool File Display
C a lib ra tin g tool d a ta in p u t
m
key.
D ep ress
][] B
B
B
B
B
E
„
Data Store
,
D e p re ss 1— ¡=^.. ¡— 1 so ft key.
F5
P tn tl
M a n u al
D ep ress
Panel
F4
10 0 0
5 1 0
0
-
353 -
so ft key.
fS I
DATA
In p u t th e c a lib ra tin g tool c o n s ta n t to tool file
o o o
OBQ
by d e p re ss in g D A TA keys.
ODD
ODD
W hen c a lib ra tin g tool sh o w n in Fig. A 4. 2 in used, th e c a lib ra tin g c o n s ta n t is d im en sio n s
T h e re fo re , in p u t th e d im en sio n s I to Z in tool file.
-
In p u t 0 for o th e r d ata.
354 -
I
A 4. 2. 2 Setting of Reference Point
T h e re fe re n c e p o in t sh o u ld be se t before th e s ta n d a rd o r u n iv e rsa l tool d a ta is set.
■ (O peration on O p e ra to r's P a n e l) 1
S pecify th e tool se ttin g mode.
D e p re ss
key.
OP1
B
F lo p p y
Tool
Tool
U ser
C o o rd
D ep ress
^ o f t key.
F2
B
P *« e I
P « *e t
T oo l
Nam e
D is p
ch*.
H0 0 0 0 0 S
D ep ress
[>
key.
\
□
D e p re ss 1 DataStore I so ft key.
I F5
!
m
D ep ress
Manual
F5
-
355 -
so ft key.
- (O p e r a tio n on T each P e n d a n t ) Depress
T
•
0
L
and
M A
TOOL
S
T
E
keys
R
Register referen c e point by usin g c a lib ra tin g
will appear on teach pendant.
tool.
B
0
ENABLE
P u t a referen c e point on a a r b i t r a r y plane,
an d d r a w the X-Y coordinates.
PLA NE
Fig. A 4. 5 X-Y Coordinates
@ Place th e T C P P of c a lib r a tin g tool to the r e
ference point.
Be s u r e to place the c a lib r a tin g tool p e r p e n
d ic u la r to the plane.
The direction is ZT direction on tool
coordinates.
Fig. A4. 6 Calib. Tool and Reference Point
COORD
r'X
Set the tool coordinate system motion by de-
O P JOINT
□ea"V D
L
□
T TOOL
□
USER
pressing
-
356 -
COORD
key.
m
M ove direction on tool
Confirm the move direction of calibrating tool
c o o rd in a te sy e tem
by using axis keys on the left.
X
If the move direction of the tool is wrong for
draw ing coordinates on the plane, adjust it by
Y
using
z
1)
or
—vjl
Z
key.
Z
m
RECORD
Depress
key to register the refer
ence point.
A 4. 2. 3 Setting of Standard/Multiple Tool Data
Set the s t a n d a r d / m u l t i p l e d a t a in the following sequence afte r re g is te r in g referenc e point
■<O peration on O p e r a t o r ’s P anel)*
D
M ount the tool to be used to the m an ip u la to r
C o r r e sp o n d XT and YT direc tio n of the tool to
and move th e T C P to the r e g iste r e d referen ce
X-Y co o rd in a te s on the plane, and
point.
direction p e r p e n d ic u la r to th e place, by using
keys on the teach pendant.
B
set ZT
Std. Tool
Or
Univ. Tool
D isplay tool No. to be reg istered .
F4,
" M
• T each p e n d a n t d isp lay
-ÍX
T
o
Or
p\
0
0
L
T ' "!
Page t
Tool No. ( 1 to 8 ) to be r e g iste re d
F2,
Fig. A4. 7 Correspondence of Tool and Refer
ence Point
-
357 -
- (O p e r a tio n on T e a c h P e n d a n t ) ÉJ
Register the TCP temporarily by depressing
KBM
RECORD
□
COORD
f i
□
c>
Set the tool coordinate system motion by de
JO IN T
i— i A n W L D
O
0 B /C Y L
O
□
m
P
f
pressing
TOOL
X+
8+
YL-
Y+
I+
2u-
Z+
u+
---
COORD
USER
Move direc tio n on X-Y co o rdin a te
X8-
key.
Confirm the more direction of stan dard/m u ltip le
tool by using axis keys on teach pendant.
XT
-
If the move direction of the tool is wrong for X
YT
'
=
Zt
Y
'
X
R-
coordinates,
-^ST
*
R+
adjust
y
B-
it
or
B+
by
j? * .
z
T-
using
Z
T+ I
keys.
Check the displaying tool No. on teach pendant,
T
0
0
L
C>
L- J
and register the TCP of standard /m ultiple tool
by depressing
Check the tool No.
im a
RECORD
key.
Set the tool direction taking into account
consideration the manipulator movement.
(REFERENCE) TCP DATA SETTING OF MULTIPLE TOOLS W h e n th e T C P d a t a m ultiple tools a re n um e rically direc tly from ERC o p e r a t o r ’s panel,
se t T C P d a t a (RX, RY, RZ) as follows.
r= >
Zf
^ Y ’fi YV
zv
(R Z = 180")
(RY=90")
180“rotation
90”rotation
around ZF axis
around Y’F axis
(R Y= 0 )
Note :
Non-rotation
CW =forward direction
around X”F axis
(+)
-
358 -
A4. 3 MOVEMENT OF MANIPULATOR AFTER SETTING TOOL DATA
Movement
toward
at
coordinate
tool
setting
coordinate
direction
is
available
when
axis
is
operated
specifications.
Fig. A4. 8
Movement After Setting The Tool Data
A4. 4 NOTE FOR INTERPOLATION OPERATION
In
interpolation
angle
as
the
The
are
changed
direction
actual
operation,
equally.
of
movement
setting
of
tools
are
The
tool
tool
controlled
angle
coordinates
manipulator is
shown
tool data are set, select the movement A or
The moving A is convenient for arc welding.
Fig. A4. 9
so
at
each
359 -
the
tool
teaching
point
position
is
and
recognized
(X, -Y, -ZT ).
in
Fig. A4.9.
B
according
Interpolation Operation
-
that
When
to
the
standard/multiple
application.
A4. 5 TOOL FILE STORING
The
setting
The
floppy
universal
one
contents
disk
tools
in
stores
in
a
tool
data
batch.
file
for
are
a
stored
in
calibrating
Therefore,
all
floppy
tool,
tool
data
operation.
C A L IB
TO O L
S T D . TOÇII.
B A TCH
T R A N S M IS S IO N
UNIV. TOOL.
Fig. A4. 10 Tool File Storing
-
360 -
a
disk
drive
standard
are
reset
tool
(op t iona l ) .
and e ight
collectivel y by
A5 USER COORDINATE FUNCTION
In controller, fixed
Tool
coordinates
Manipulator
In
and
and
also
the
subject
addition
to
these
allowing
maximum
these
Each
operation
of
eight
systems
frame
area,
the
can
and
be
coordinates
with
with
tools
all
coordinate
user
kinds
are
robot
set
is
available
A
base
are
to
of
called
set
in
becomes
a
these
user
set
1
to
optional
fixed
with
wrist.
user
the
systems.
coordinate
systems
manipulator.
system
are
systems.
can
be
registered,
8.
place
coordinate
Fig. A5. 1 User Coordinates
-
defined
of
coordinate
coordinate
Frames
are
tip
coordinate
systems,
freely
any
at
361 -
inside
system
on
the manipulator
the
base
coordinates.
A5. 1 USAGE OF USER COORDINATES
The
Some
(1)
user
coordinate
examples
are
settings
shown
Multiple jig stands
Manual operation can
jig
permit
easy
teaching
in
various
cases.
below.
be
simplified
by
setting
user
coordinates
for
each
support.
U SER
C O O R D IN A T ES
U SE R
C O O R D IN A T ES
fr
ET
FlT T H
(2)
Arranging
The
and
incremental
coordinates
(3)
Conveyor
The
stacking
value
for
shift
can
be
set
easily
by
setting
user
pallet.
synchronizing operation
moving
contact
on
operation
your
direction
Yaskawa
of
conveyor
is
specified.
representative.
-
362 -
For
detailed
information,
A5. 2 DEFINITION OF USER COORDINATES
The
user
pendant
coordinates
and
by
can
teaching
be
the
defined
three
ORG ••
•
• Definition
user
X X .....Point
XY ..... Point
user
Teach
point
ORG
XY.
and
XX
by
operating
points
shown
point
of
manipulator
in
using
the
teach
Fig. A5. 2.
origin
position
of
coordinates
of
X-axis
to
show
on
user
coordinates
direction
of
Y-axis
on
coordinates
precisely.
Directions
of
Y
and
Z
axes
decided
by
Fig A5. 2 Definition of User Coordinates
These
can
be
set
values
called
up
are
when
registered
in
the
user
coordinates
inside Controller and
necessary.
Once registered,
many
times.
FRAM E1
to
FRAME8
Fig A5. 3 User Coordinate File
-
363 -
it
can
be used
anytime,
A 5. 3 USER CO O RDINATES SETTING
A 5 . 3 . 1 User Coordinates Setting
■(Operation on O p e r a t o r ’s P an el)"
OP1
D e p re ss
D epress1
Floppy
1
Usef coord SPEC PNT OPTION
Tool
-------
^
<
S
FI
Page 1
I
F1
ORG POINT
F3
F2
|
I
User Coord
and
F3
fSet
data]
soft keys
F5
to call up the u s e r coo dinate file display.
Se t data
F4
Page Î
I
°r
key.
--------------------- '
Page Î
Page I
oP1
Call up the desired user frame No.
I
F2
Depress
key.
Depress 1 °^ta store 1 soft key to specify the user
F5
Exit
L
=
ORG
=
^
<11 F1 II «
XY
XX
=
—
F 3
Date store
—
—
F 4I
F
-------------------------------------------------------------------------------------------v
t
j
coordinate setting mode.
— J
t>
7 v - "
(O p e ra tio n on T ea ch P e n d a n t ) '
Depress
ENABLE
key.
EN ABLE lamp lights an d the d isp la y appears
as below.
• T ea ch P e n d a n t d isplay
F
R A M E
8
U s e r fram e No.
T ea ch t h r e e po in ts : O rigin poin t if u s e r c o o r d in
ates, p o in t to desig n ate X-axis, and a point on the
X-Y plane.
364 -
0
R G
H
+•
Select the point to be registered from three
—
or
ON
OFF
points by using
+
ON
or
—
OFF
key.
T each P e n d a n t D isplay
lF R A M E
F R A M E
0 R c|
X X 1
j
I* Y
81
I*
8
lF R A M E
O riginal point of u se r co o rdin ates
X-axis
X-Y plane
These displays change whenever the
or
4 -
OFF
ON
key is depressed.
fU
Depress
RECORD
key to register the point.
Any of these three points can be taught first.
When using a system having an external axis,
coordinate external axis positions which differ
among the three points cannot be registered.
- ( O p e r a tio n on O p e r a t o r ’s P a n e l ) ---------------
m
Depress
Exit
ORG
XX
XY
Exit
soft key.
Oate store
F ra m e d ata of the specified u s e r co o rd in ate is
cre ate d an d reg istered in the d is p lay in g file.
wlfÊTli M II W IFF
-
365 -
A5.
3.
2
User Coordinates Deleting
(D e scription)
D ep ress
D ep ress
k
0P1
User coord
I F3 |
| Set data j
-------- ,
and
soft
F5
keys to call up the u se r c o o rd in a te file display.
Call up the u se r fram e No. to be deleted.
D epress
c>
key.
Data dlt
D ep ress
F4
soft key to specify the
u se r c o o rd in a te deleting mode.
Execute
D e p re ss
soft key.
F5
T he u s e r coo rd in a te d a ta
sc re en a r e deleted.
366 -
disp lay e d
on CRT
A 5. 4 CONFIRMATION OPERATION OF DEFINITION POINT ON USER COORDINATES
D uring user c o o r d in a te se ttin g m o d e specification, m a n ip u la to r m o v e s to a definition point on user
c o o rd in a te s t h a t h a s a lre a d y bee n ta u g h t by using te a c h p endant. O p e r a te as follows:
■(O p e ra tio n on T each P e n d a n t ) 1
_,
or
3
o
ON
Specify the point to be confirmed.
OFF
T ea ch P e n d a n t D isplay
If
r
1f i R
— r
A M Ei
A 'M l
t—
8
E l
i— i— i— r ^
These
or
ON
0
8
R G
L I XJ X
^— '— 1— i— i
displays
— -m
change
X-axis
X-Y plane
whenever
the
key is depressed.
OFF
m
While depressing
[^B J
key, the manipu|fwd>
lator moves to the specified position.
W h e n re le a sin g th is key, th e m an ip u la to r
will
stop.
A fter positioning is completed, the
m a n ip u la to r s to p s automatically.
Moves at eith er link, lin e ar o r c i rc u la r mode, select
ing op era tio n by MOTION T Y P E LED on teach p e n
dant.
-
367 -
A 5. 5 R ESET O F USER CO O RDINATE SETTING MODE
W h e n the following keys on o p e r a t o r ’s panel a re d ep re ssed , the u s e r se ttin g mode is reset.
• When depressing !___ _xil
1 soft key :
A fte r u se r c o o rd in a te re g is tra tio n is co m p leted , th is m ode is re s e t,.
FUNCTION
DISP
EDIT
<1
When depressing either
OP1
keys :
OP2
U ser c o o rd in a te s e x e c u tin g te a c h o r r e g iste r b e c o m e s ta tu s befo re te a c h in g or registering.
T h erefo re, te a c h o r re g iste r it again.
-
368 -
A 6 . S E T T IN G C U B E IN T E R F E R E N C E A R E A
F ir s t, call the d isp lay for cube in te rfe re n ce area.
(D escription )
D e p re ss
0P1
D e p r e ss
[>
D epress
m a
! CUBE
,------- ,
I F5 I
For
key.
key
soft key.
se ttin g cube i n t e r f e r
ence area, th e r e a re th r e e
methods.
(1)
Setting
from
oper
a t o r ’s panel.
(2)
Setting
pendant
from
(there
tw o methods.)
-
369 -
teach
a re
Next, set the cube in te rfe re n ce a r e a by following o pera tions.
(1)
Setting from o p e r a t o r 's panel.
■(Operation on O p e r a t o r ’s Panel)-
D
(D escription )
Set th e c u r s o r on d a ta to be set.
D e p re ss
Page ;
<3
F1
Page '
SET LENGTH
F3
F2
Panel
F4
L— 0
o
(2)
soft key.
Teach pend
F5
>
In p u t the d a t a and d e p r e s s
B o n a
aaa
□or
I Panel |
r,
ENTER
key.
o
T he d isp lay e d d a ta a r e changed.
r
Setting from teach p e n d a n t • two m ethods
D e p re ss
HâchTend]
1 F5 1
A set mode d isp lay will appe ar.
F o r d e p r e s s in g
MIN/MAX
soft key I
F4
Set by moving m a n ip u la to r to m a x /m in
position in cube area.
I CUBIC LEN. |
soft key •
A fter se ttin g the ax is length of cubic
ar e a in advance, the specified ax is length
from any m a n ip u la to r ’s p o sition (pause
position, etc.) is set as cubic ares.
-
370 -
M IN / M A X
soft key.
I F4 I
■(Operation on O p e r a t o r ’s P a n e l ) M IN / M A X
D I M IN / M A X
D ep ress
F4
soft key to change the
F4
m a n ip u la to r ’s c u r r e n t value to m a x im u m value
o
(X, Y, Z) of cube ( 1 to 4 ).
<M e ssag e )
T h e message is d isp lay e d on the bottom in the
screen.
= => Cubic set m o d e is specified.
(O p e ra tio n on T ea ch P en d an t)
0
D ep ress
ENABLE
key after checking the mes-
sage.
T he cubic n u m b e r ( 1
o
to 4 ) and the minimum
or m axim um value a re displayed.
BF
OFF
CUBE1
MAX
4-
key
BF
ON
CUBE1
V
MI
T h e d isp la y of minimum and m axim um v alu es is
changed by d e p re ssin g
key
+
ON
-
or
OFF
key.
N
\
BF
CUBE2
BF
CUBE2
MAX
I
t
M I N
I
T o be continued up to CUBE 4 .
0
Select th e cubic n u m b e r to be set and move
the
m a n ip u la to r by JOG operation.
D e p re ss
□
key and
ENTER
key.
T h e m a n ip u la to r ’s c u r r e n t position (X, Y, Z) is
se t in th e a r e a selected by te ac h pendant.
(on o p e r a t o r ’s panel)
-
371 -
|CUBIC LEN. |
(b)
✓■
<
|
soft key.
(O p e ra tio n on T ea ch P e n d a n t ) --------------- -v
D
(D escription )
[CÜBIC LEN .[
Be s u r e to check th e axis length b e
Œ E
fore ex ecu tin g the following o p e r a
tion.
O
D e p r e ss
CUBIC LEN.
— zr r r ——
soft key.
T he axis length se ttin g d isplay for cubic a r e a is
shown.
T E A C H MODE
1 9 9 0 /0 4 /1 7
A C T IV E JO B : * * * * * * * *
PA U SE
12
CUBIC A REA
E D IT JO B
SA M P L E
s : ooo
L : oooo
<CUBIC LEN .)
<CUBIC LE N .)
CUBE1
CUBES
X
1 0 0 .0 m m
X
Y
1 0 0 .0 m m
Y
lOO.Omm
1
1 0 0 .0 m m
Z
1 0 0 .0 m m
X
1 0 0 .0 m m
X
lOO.Omm
Y
1 0 0 .0 m m
Y
lOO.Omm
Z
1 0 0 .0 m m
Z
1 0 0 .0 m m
CUBE2
1 0 0 .0 m m
CUBE4
= => S p e c ify th e le n th .
|
B
| |
I
I Set data [
|
Exit
[
I Set data
Place the c u r s o r to ax is d a ta to be set.
De-
F4
press
I Set data I
— ;— ~— 1
,
.
,
e h h
cubic length data.
H
□
I
Exit
A fte r se ttin g th e d ata, d e p r e s s
F5
soft key.
I CUBIC LEN.
Exit
F5
T h e message is d isp lay e d by d e p r e s s in g
F5
CUBIC LEN.
o
F5
<Message>
= = > Cubic set m o d e is specified.
-
372 -
soft key.
lL
soft key to change the
(O p e ra tio n on T each P end ant)
(D escription)
m
D e p re ss
ENABLE
key after checking the mes-
sage.
T he cubic n u m b e r is displayed.
T h e d isp la y is changed by d e p re ssin g
+
ON
m
—
or
OFF
key.
Select th e cubic n u m b e r to be set and move
the
m a n ip u la to r by JOG operation.
D ep ress
H
and
ENTER
keys.
T h e a r e a selected by ste p 6 is set by c a lc u la t
(on o p e r a t o r ’s panel)
ing m a x /m in c o o rd in a te from m a n ip u la to r ’s c u r
re n t position (X, Y, Z) and specified axis length.
-
373 -
I
A 7 . A L A R M D IS P O S IT IO N D U R IN G O P E R A T IO N
F o r a la rm s th a t occ ur d u r in g m a n ip u la to r o p eration, the r e a so n and the d isposition a re d e s c rib e d below.
ALARM 1130
Segment d a ta tro u b le
If the speed is too fast while operating the teach pendant, this alarm w arns before it becomes maximum.
alarm occurs relatively easily when the
keys are operated and manipulator is in the follow• <BWD| - |f w 5 >
ing w rist orientation.
Z -A X IS
U-A X IS
I
!
B -A X IS
US l a s ,
if II
(a )
B- and U -axis A lign in One S tra ig h t Line
(b)
U- and
L-axis
of Manipulater Model V
Align in One S tra ig h t Line
Fig. A 7 .
Depress
This
1 Wrist Orientations that Cause Alarm 1130 Relatively Easily
key again to release the alarm, then operate after lowering the speed on the teach
pendant.
-
374 -
A 8 ADDITIONAL OPERATION OF MANIPULATOR MODEL V
T h e alarm code and MOVE in stru c tio n (special linear) added to solve special p ro blem s in linear i n t e r
polation op era tio n of the m a n ip u la to r model V a re describ ed.
A8.
1 ALARM AND DISPO SITION
A l arm 1060
(1)
A la rm cause
If the L- and U -axis w r i s t orien tatio n differ betw een s te p s in linear in te rpolatio n operatio n, m an ip u la to r
ca n n o t be operated . T h erefo re, AL-1060 is d isp lay e d before it o p e r a te s between th e se steps.
(2)
D isposition
Reteach the w r i s t o rie n ta tio n sho w n in Fig. A 8 . 2 .
-
375 -
See Fig. A 8
1
I
A 8. 1 .1
Adding SPECIAL (Special Linear) to Move Instruction for Interpolation Operation
near S-axis Rotation Center
1 . A larm C ause
(1)
W h e n te ac h in g from front side to fro n t side,
as show n in Fig. A 8 . 3,
and p erfo rm in g S-axis
in te rp o la tio n o p e ra tio n while r o ta tin g in an o p e r a tin g direction, the S-axis angle speed increases, the
alarm (AL-1130) o cc u rs and the op era tio n will not be disabled.
(2)
W h e n te a c h in g fro m fro n t side to r e a r side, a s s h o w n in Fig. A 8 .4 , an d p e rfo rm in g inte rp o latio n
o p e r a tio n th a t m a n ip u la to r p a s sin g th r o u g h the ce n te r line of S-axis (viewed from the side surface),
the alarm (AL-1130) o c c u rs and the o p e ra tio n will not be disabled.
Fig. A 8 .
3 Alarm for Increasing S-axis Angle Speed
Fig. A 8 .
2.
4 Alarm for Passing Manipulator to S-axis Center Line
Remedy
If an alarm 1130 occurs, ad d SPECIA L (special linear) to the MOVL instruction.
T h e w ris t
o r ie n ta tio n is not controlled, so it will be changed w hile moving in a locus.
If the w r i s t o r ie n ta tio n g r e a tly changes of if o th e r a la rm s AL-1011 or 1070 occur, teach in accord ance
w ith the flow sho w n in Fig. A 8 . 5.
-
376 -
A 8. 2 INSTRUCTION FOR SPECIAL LINEAR INTERPOLATION (SPECIAL LINEAR)
Table A8. 1 Instruction for Special Linear Interpolation
Display
Instruction
Special
linear
MOVL
V = 500.0
Operation
Operates
SPECIAL
linearly
speci f ied
to
step
This instruction cannot be parallel shift or weaving function.
A 8. 3 ALARM CODE
Table A 8. 2 Alarm Code
Code
Contents
AL-1011
(Data
033)
A L-1011
(Data
AL-1060
AL-1070
035)
Operation
error
Operation
error
Linear
operation
Operation
Interpolation
Change
to
Alter
the
or
Alter
disable
Special
S-
the
(Refer
linear
Alter
disable
the
-
or
to
the
operation
the
teaching
R-axis
L-
Operator
in
not
M0VJ (joint)
and
so
is
possible.
operation.
that
move
amount
small.
U-axis
position.
par. 7. 1. 1)
B-axis
M0VJ (joint)
377 -
of
position
operation.
or
change
to
^
Teaching around
v
S-axis center
Teach from front side
to front side.
Perform playback
YES
operation to manipulator.
Alter the B-axis
position or
—< J M 1 3 0
c
)
occurJ£>
Check the change of
change to the
the wrist orientation.
MOVJ (joint)
operation.
YES
Add the SPECIAL
(special linear) to
MOVL instruction.
"or"
Alter the teaching so
Teach from front side
that move amount of S-or
to back side.
R-axis is small.
Retry playback
operation to manipulator.
Fig. A 8 .
5 Teaching Flowchart when the Wrist Orientation Greatly Changes or when AL-1011/1070 Occurs.
-
378 -
A 8. 4 SETTING METHOD OF SPECIAL LINEAR
INSTRUCTION TO BE ALTERED
(1)
Setting method from o p e r a t o r ’s panel
"
( O p e ra tio n on O p e r a t o r ’s Panel)-
|
CK
D e p re ss
"o rr
—
EDIT
D e p r e ss '—
In sert
<1
F1
A lte r
F2
D e l e te
F3
L in e e d it
F4
F1
M o tio n
S eq u en ce
F2
D e vice
s h if t
F3
F4
Arithmetic
—
so ^ key-
S p e e d chfl
F5
C>
D e p r e ss
In /O u t
key.
Same comd
F5
t> |
Sensor Com
< n ra r ^ r ^ i r ^ w
F
-
379 -
[>
key.
A 8. 4 SETTING METHOD OF SPECIAL LINEAR (Cont’d)
D e p re ss
MOVL
, ,
— - — ,— 1 soft key.
n an
D e p r e ss
1— ,
— 1 soft key.
I F5 |
Now pos
D e p re ss
„
Depress
D e p re ss
key.
Special LINR
1— ¡=^=j—
soft keYF5
ENTER
key.
Special linear (SPECIAL) are set.
-
380 -
(2)
Setting method from teach p e n d a n t
O p eratio n on T ea ch P endant)«
Move the m a n ip u la to r to step 9 by o p e ra tin g
x
the ax is keys.
B
MOTION
TYPE
D epress
4-
'
I motonI
1 type r
COORD
key.
MAN SPD M°yp°N
■
P JOINT
■
FST
■
® b " Ly°l
■
MED
■
f - TOOL
■
SLW
■
USER
EXT
AXES
0
w h ile d e p r e s s in g
D e p r e ss
□-LNR lamp is blinking.
JOINT
LNR
GIRO
B ^ C IR
O
H IG H
SPO
k ey
RECORD
w h ile
0 ~
l
is
blinking.
T he M OVE in stru c tio n d es ig n a tin g SPECIA L LINEAR
is registered.
(stead y light)
lnb
blin k in g stops, but re m a in s lit
T h e teach p e n d a n t d is p la y s become as
below.
0 0 9
T L 0
M 0 V L
L
V
= 5 0 0 .0
S PE C IA L
O —'LNR d o e s n o t b lin k w h en m a k in g a
change after registerin g the MOVE
instruction.
-
381 -
A 9 C O M P A R IS O N O F Y A S N A C E R C A N D Y A S N A C R X
A 9. 1 CO M PARISO N OF OPERATIONAL FUNCTION
Table A 9. 1 Comparison of Operational Function on YASNAC ERC and YASNAC RX
No
1
Item
Ext. memory unit
YASNAC ERC Function
YASNAC RX Function
3.5-inch floppy disk drive
Cassette recorder
(Made by Y-E DATA Inc.)
(Made by Sony Crop.)
• P rinter cannot be connected.
• Printing output possible personal
computer sold on the market.
2
• Printer can be connected.
Printer
function
Comment statement addition and output • Fixed output format.
format change are possible.
(3.5-inch floppy disk to
conform MS-DOS)
3
Emergency stop
4
Home position
5
Job name
6
Message display
Alarm display
(resetting not necessary)
(resetting not necessary)
Not necessary
Necessary
(absolute system)
Can be designated by ch aracters
Program
Only one job registered
selection
as master job.
P P>J set operation
Applicable to master jobs only.
7
Auto mode
Nos. 1 to 249
(max 8 half-size characters)
F or other jobs, only one cycle is
operated.
Applicable to all jobs
taught.
M anipulater cannot be operated
8
Light method
of HOLD lamp
if lamp is lit (even if START button
When depressing START
is depressed).
button, HOLD lamp goes
HOLD lamp is lit while HOLD button
out and manipulator operates.
is depressed.
• Speed override (can be
9
Batched speed
alteration
changed during operation)
• Batch editing is possible
• TRT function
by designating %
(moving time can be checked)
3 -stage selection
10
Manual speed
selection
1-to 8 -stage selection
(equipped in addition to
(combined with PLAY speed)
PLAY speed)
-
382 -
YASNAC
1 tem
No.
ERC
Execution
11
NEXT
operation
other
instruction
on
teach
BACK
operation
Teaching
point
wall
MOVE
selected
arc
is
ini tial
cal 1
possible.
taught
execute
parameter
to
than
MOVE
(Semi-fixed)
arc
backing
is
possible.
•Backing
to
initial
call
is not possible.
By 1-point teaching,
direction
by
Function
other
•Circular
not
to
Swinging
Designate
RX
instruction.
backing
possible.
•Backing
is
13
than
can be
YASNAC
pendant.
•Circular
12
Function
2-point
can
be
teaching.
swinging
taught
direction
at
can
be
instruction
designation.
Wall
14
(teach
15
point
moving
Moves
only
if
instructed.
pendant)
Condition
file
•Conditional
job
(similar to
•Conditional
ordinary
file
(Japanese
prompts
Always
moving
•Special
job)
displayed)
during
BACK
operation
(max
10
file
instructions)
•Conditional file
(set by instruction)
(
-
383 -
A10. 1 WHERE
tm
KEY IS DEPRESSED
Job
Page 1
Page
t
Disp chg
Job header
Job text
Comd. pos
-fjob" list 1
-fjob 1ist 2
Search
Line
Step
Label
-^Master job
Job
Posi tion
-[Ä}
Page 353
File
-Qäp
Page 354
Diagnosis
-Ç<p
Page 355
STACK DISP
-
386 -
Inst
-
387 -
I
A 10. 1 W HERE
BBP
KEY IS DEPR ESSED (C ont’d)
-
388 -
-
389 -
I
A 10. 2 WHERE
EOT
KEY IS DEPRESSED IN JOB HEADER DISPLAY
Job
header
-
390 -
A 10. 3 WHERE
KEY IS DEPRESSED IN JOB TEXT DISPLAY
Job
text
-
391 -
A 10. 3 WHERE fw m ]
KEY IS DEPRESSED IN JOB TEXT DISPLAY (Cont’d)
-
392 -
Sequence
i
Device
ARCON
ARCOF
VWELD
AWELD
WVON
W\'OF
-
393 -
A 10. 5 W H ER E
exr
KEY IS DEPRESSED IN VARIABLE DISPLAY
Variable
-
394 -
A 10. 6 WHERE EOT KEY IS DEPRESSED IN POS EDIT DISPLAY
Pos. edit
-
395 -
A 10. 7 WHERE
A 10. 9 WHERE
echt
e d it
KEY IS DEPRESSED IN WEAVING DISPLAY
KEY IS DEPRESSED IN WORK HOUR DISPLAY
-
396 -
A 10. 10 WHERE
KEY IS DEPRESSED
-
397 -
A 10. 10 WHERE
KEY IS DEPRESSED (Cont’d)
-
398 -
I
A10. 11 WHERE
KEY IS DEPRESSED
-
399 -
A 10. 12 WHERE
KEY IS DEPRESSED
\ Master call
-
400 -
I
INSTRUCTIONS
YASNAC ERC
CONTROLLER FOR INDUSTRIAL ROBOT M O TO M AN
O PERATO R’S MANUAL
TOKYO OFFICE O htem achi Bldg. 1-6-1 O htem achi, C hiyoda-ku, Tokyo, 100 Japan
Phone (03) 3284-9111, -9145 Telex YASKAW A J33530 Fax (03) 3284-9034
SEOUL OFFICE Seoul C enter Bldg, 91-1, So K ong-D ong, Chung-ku, Seoul, Korea
Phone (02) 776-7844 Fax (02) 753-2639
TAIPEI OFFICE Union C o m m ercial Bldg, 14F, 137, Nanking East Road, Sec 2, Taipei, Taiwan
Phone (02) 507-7065, -7732 Fax (02) 506-3837
YASKAWA ELECTRIC AMERICA, INC. : SUBSIDIARY
Chicago-Corporate Headquarters 2942 M acArthur Blvd. N o rthbrook, Illinois 60062-2028, U.S.A.
Phone (708) 291-2340 Fax (708) 498-2430
Los Angeles Office 7341 Lincoln Way, G arden G rove, C a lifornia 92641, U.S.A.
Phone (714) 894-5911 Telex (230) 678396 YASKAW AUS TSTN Fax (714) 894-3258
New Jersey Office 30 Tw o Bridges Road, Fairfield, New Jersey 07006, U.S.A.
Phone (201) 575-5940 Fax (201) 575-5947
MOTOMAN INC.
Headquarters 805 Liberty Lane W est C arrollton, O H. 45449, U.S.A
Phone (513) 847-6200 Fax (513) 847-6277
YASKAWA ELECTRIC EUROPE GmbH : SUBSIDIARY
N iederhoch städter Stra/?e 71-73, W 6242 K ronb erg -O berhochstadt, Germ any
Phone (06173) 640071, 640072, 640073 Telex 415660 YASE D Fax (06173) 68421
YASKAWA ELÊTRICO DO BRASIL COMÊRCIO LTDA. : SUBSIDIARY
Av. Brig. Faria Lima, 1664-cj. 721/724, Pinheiros, Säo Paulo-SP, Brasil CEP-01452
Phone (011) 813-3933, 813-3694 Telex (011) 82869 YSKW BR Fax (011) 815-8795
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
CPF Bldg, 79 Robinson Road No. 13-05, S ingap ore 0106
Phone 2217530 Telex (87) 24890 YASKAW A RS Fax (65) 224-5854
y
TOE-C945-100H
© Printed in Japan June 1992 89-6 0.4T <$>
INSTRUCTIONS
MOTOMAN SERIES
O PERATO R’S M A N U A L FOR EACH APPLICATIO N
Before initial operation read these instructions thoroughly, and retain for future reference.
YASKAWA
This Operator’s Manual describes how to register the work instructions necessary for the
operations of each application (arc welding, spot welding, handling, sealing, coating, laser
cutting, plasma cutting, machining, general application) and special operations on the teach
pendant, prepared for each application.
Motoman is an industrial robot system combining manipulator and YASNAC ERC
controller.
CONTENTS
O U T LIN E
1
1.
3
ARC W E L D IN G
1.1
REGISTRATION AND ALTERATION OF ARC O N /O F F .............................................................. 3
1. 2
REGISTRATION AND ALTERATION OF WELDING CONDITION...............................................4
1. 3 WELDING CONDITIONS INPUT FUNCTION AT ABSOLUTE VALUES..................................... 4
1.3.1
Instruction..................................................................................................................................... 5
1.3.2
Condition Settings on Teach Pendant......................................................................................... 6
1.3.3
Welder Condition File Setting.....................................................................................................7
1.3.4
Floppy Operation.......................................................................................................................11
1.3.5
Parameter Setting......................................................................................................................13
1.3.6
Alarm and Error Display............................................................................................................ 13
1. 4 WELDING CONDITION CHANGE DURING OPERATION........................................................ 14
1.5
SOFT WEAVING............................................................................................................................15
1.5.1
Registering Weaving Point........................................................................................................ 16
1.5.2
Specifying Weaving Condition File and Registering Weaving Condition.............................. 17
1.5.3
Detail of Setting Data.................................................................................................................20
1. 6 WIRE INCHING OPERATION....................................................................................................... 23
1.7
STOP BY WIRE STICKING...........................................................................................................24
1.8
STOP DURING WELDING............................................................................................................ 24
2.
SPOT W ELDING................................................................................................ 26
2.1
SPOT START INSTRUCTION........................................................................................................26
2.2
SPOT TIMER CONDITION INSTRUCTION (TMWELD X X ) ..................................................... 27
2. 3
SPOT GUN FULL OPEN (STROKE CHANGE) INSTRUCTION..................................................30
2.4
DRY SPOTTING FROM TEACH PENDANT.................................................................................31
2. 5
LIST OF OPERATION ON TEACH PENDANT............................................................................. 32
2. 6
SPOT WELDING DIAGNOSIS FUNCTION.................................................................................. 33
2. 7
ROUGH CONFIGURATION OF JO B............................................................................................36
2.7.1
Editing the Control Job............................................................................................................... 37
2. 7.2
Editing the Operation Job.......................................................................................................... 38
3.
HANDLING............ ........................................................................................................................... 39
3.1
HAND OPEN (OFF)/CLOSE (ON) INSTRUCTION..................................................................... 39
3. 2
PALLETIZING FUNCTION............................................................................................................ 46
3. 3
HANDLING DIAGNOSIS FUNCTION.......................................................................................... 53
4.
SEALING AND C O A T IN G .....................................................................................55
4.1
REGISTRATION AND FUNCTION FOR SEALING START INSTRUCTION.............................. 55
4. 2 REGISTRATION AND FUNCTION FOR SEALING END INSTRUCTION................................... 56
4.3 SETTING AND REGISTERING APPLYING CONDITIONS.......................................................... 58
4. 4 ANALOG OUTPUT FUNCTION CORRESPONDING TO SPEED............................................... 60
4.4.1
Description of Function............................................................................................................. 60
4.4.2
Instruction................................................................................................................................... 61
4.4.3
Offset Voltage Setting................................................................................................................62
4.4.4
Description of Operation........................................................................................................... 63
4. 5
4.6
SEALING DIAGNOSIS FUNCTION..............................................................................................68
4. 7
PAINTING RECIPROCATE FUNCTION.......................................................................................69
5.
5.1
LASER C U T T IN G ...............................................................................................73
REGISTRATION AND FUNCTION FOR LASER ON INSTRUCTION ........................................73
5. 2 REGISTRATION AND FUNCTION FOR LASER OFF INSTRUCTION........................................ 74
5. 3 SETTING AND REGISTERING LASER CUTTING CONDITIONS............................................... 76
5.4
5. 5
LASER CUTTING DIAGNOSIS FUNCTION.................................................................................78
6.
PLASM A CUTTING.............................................................................................80
6.1
REGISTRATION AND FUNCTION FOR ARC ON (ARCON) INSTRUCTION............................80
6.2
REGISTRATION OF ARC OFF (ARCOF) INSTRUCTION........................................................... 81
6.3
SETTING AND REGISTERING THE PLASMA CUTTING CONDITIONS..................................83
6.4
6. 5
PLASMA CUTTING DIAGNOSIS FUNCTION............................................................................. 85
7.
M A C H IN IN G ......................................................................................................................................87
7.1
REGISTRATION AND FUNCTION FOP WORK START INSTRUCTION................................... 87
7. 2
REGISTRATION AND FUNCTION FOR WORK COMPLETE INSTRUCTION...........................88
7.3
7.4
MACHINING DIAGNOSIS FUNCTION......................................................................................... 90
8.
GENERAL-PURPOSE U S E ................................................................................... 93
8.1
REGISTRATION AND FUNCTION WORK START INSTRUCTION............................................93
8. 2
REGISTRATION AND FUNCTION WORK COMPLETE INSTRUCTION................................... 94
8. 3
8.4
GENERAL-PURPOSE DIAGNOSIS FUNCTION..........................................................................97
O U T L IN E
Each function according to the application differs as shown in Tables 1 and 2.
Table 1
^ ""-^ ^ F u n c tio n
Application'^'--^
Arc Welding
List of Work Instruction and Reserve Job Name
Work Start Inst.
ARCON
Work End Inst.
ARCOF
GUNON
Spot Welding
Work Condition Inst. Reserve Job* Name.
AWELD (Current)
VWELD (Voltage)
ARCON
ARCOFF
TRAING1
TMWELD
GUNON
TRAINGt
HANDON
HANDOF
TRAING1
Handling
HAND 1 ON
HAND 2 ON
HAND 1 OFF
HAND 2 OFF
Coating, Sealing
GUNON
GUNOF
AOUT AO # 1
AOUT AO # 2
GUNON
GUNOF
TRAINGt
Laser Cutting
LASERON
LASEROF
AOUT AO # 1
AOUT AO # 2
LSRON
LSROF
TRAING+
t~ - ■1
Plasma Cut/Spray
ARCON
ARCOF
AOUT AO # 1
AOUT AO # 2
ARCON
ARCOFF
TRAING*
Machining
TOOLON
TOOLOF
AOUT AO # 1
AOUT AO # 2
TOOLON
TOOLOF
TRAINGf
General-purpose
Using
TOOLON
TOOLOF
AOUT AO # 1
AOUT AO # 2
TOOLON
TOOLOF
TRAING*
* Reserve job means job for which a part of the job name is reserved (registered)
Refer to “Motoman Series OPERATOR'S MANUAL" (TOE-C945-100).
f TRAING
! Training job to teach temporarily for Motoman.
—
1
—
Table 2
unction
Key
Application^—
Function of Function Key in Teach Pendant
(0
f1
Arc
ARCON inst. or CALL
ARCOF inst. or CALL
Welding
A R C O N X X inst.
A R C O F F X X inst.
registration
registration
• Data control
G U N O N inst. or CALL
• T M W E L D X X inst.
• O U T (SC 236) relay
Spot
Welding
G U N O N X X inst.
registration
registration
• Data control
f2
• V W E L D X X inst.
f3
1 • A W E L D X X inst.
registration
registration
1 • Data control
O UT (SC 237) relay
control
control
• General-purpose
* Use for DRY SPO T
output inst. registra
T IN G instruction.
tion
• Use for G UN FULL
OPEN instruction
when spot gun
stroke has two
steps.
Handling
• HAND 1 O N /O F F
• HAND 2 O N /O F F
inst. registration
inst. registration
• (SC 280), (SC 2 8 0 )+
1 relay control
•(S C 281), (SC 2 8 1 )+
1 relay control
• O U T (SC 236) relay
Laser
Cutting
G O N O N inst. or CALL
G U N O F inst. or CALL
G U N O N X X inst.
G U N O F X X inst.
registration
• G eneral- purpose
output inst. registra- j
• AO UT it 1 X X inst.
inst. registration
j
• AO UT # 2 X X inst.
registration
registration
registration
• Data control
• Data control
• AO UT tt 2 X X inst.
LASERON inst. or
LASEROF inst. or
CALL L S R O N X X inst.
CALL L S R O F X X inst.
registration
Plasma
Cut/Spray
registration
Machining
Generalpurpose
Use
TO O LO N inst. or
CALL T O O L O N X X
CALLTO O LO FX X
inst. registration
inst. registration
registration
registration
registration
• Data control
• Data control
ARCON inst. or CALL
ARCOF inst. or CALL
A R C O N X X inst.
A R C O F F X X inst.
registration
registration
registration
• Data control
• Data control
T O O L O F inst. or
registration
registration
• Data control
• Data control
Note : The machining and general-purpose use differ in the contents of concurrent I/O ladder
and I/O allocation.
control
• General-purpose
tion
Coating,
Sealing
• O UT (SC 237) relay
control
I
1.
A R C W E L D IN G
1.1
REGISTRATION AND ALTERATION OF ARC ON/OFF
Specify Arc O N /O F F instruction by using
A R C O N
1-0
X
i-o
and
f•1
keys.
<Function>
Without condition No. : ARCON instruction
With condition No. : CALL instruction
X
Condition No. (1 to 99)
f•1
O
A R C O F F
X
Without condition No. : ARCOF instruction
With condition No. : CALL instruction
X
When Arc O N /O F F instruction is registered, work conditions are also registered. Some
required work conditions in welding should be preset as condition job in reserve jobs (job
name: ARCON X X or ARCOFF X X ) from operator’s panel. For detailed operation, see
par. 8.
The registration of Arc ON instruction is shown below.
Register Arc OFF instruction in the same way.
<Description>
Depress
key.
f•o
Update the condition number by using
+
0 N
or
_
key.
OFF
<Teach pendant display)
A R C O N
X
X
Condition Nos. 1 to 99
Depress
+
and
ON
simultaneously.
OFF
keys
The column for condi
tion number goes off.
Depress
RECORD
Specified welding
registered.
— 3 —
key.
instruction
will
be
1. 2
REGISTRATION AND ALTERATION OF WELDING CONDITION
Normally, the welding conditions are registered as condition job from operator’s panel.
Only welding voltage/current value can be registered from teach pendant. Register it in the
same way as above.
R eg istered condition)
CTeach Pendant Display)
c >
e
w E L D
X
X
•
X
X
Welding voltage value
Output value
E iiJ
C >
E
w E L D
X
X
•
X
X
Welding current value
Output value
1 .3
WELDING CONDITIONS INPUT FUNCTION AT ABSOLUTE VALUES
When the welding conditions are changed without this function, commanJ voltage must be
adjusted, referring to a correlation table between command voltage to the w elder and real
welding current/voltage values, so that the optimum welding current/voltage may occur.
But, by using this function, the welding conditions are able to specify at approximate
values of real welding current/voltage on the arc welding task after restoring the correla
tion table in a data file.
In case the w elder is changed, you only alter the data file without correcting the taught
welding condition correction.
In addition, this function is also utilized effectively for welding condition settings by off
line teaching.
The setting methods are shown below.
(Example)
When the welding at current 250 (A) and at voltage 28 (V) are required.
• Welding condition job without this function
AWELD 7 . 5 — ••••Set the welding current at 250 (A) by a
correlation table.
••••Set
the welding voltage at 28 (V) by a
VWELD 7. 5—
correlation table.
TIMER 1.50
ARCO N............. ......Welding start command
—4 —
• Welding condition job with this function
ABSCUR 250
ABSVOL 28 •
TIMER = 1.50
ARCON
Set the welding current at 250 (A).
Set the welding voltage at 28 (V).
Welding start command
1. 3.1 Instruction
There are two instructions to use in this function.
(1) Welding voltage output command at absolute value
Form at: ABSVOL X X X X X
(Absolute value welding voltage)
ABSVOL D X X *
(Double-precision integer type variable)
N ote: Set the welding voltage file in advance.
(2) Welding current output command at absolute value
Form at: ABSCUR
XXXXX
(Absolute value welding current)
ABSCUR D X X *
(Double-precision integer type variable)
Note: Set the welding current file in advance.
* On the teach pendant, double-precision integer type variable is not be registered.
— 5 —
Tables below show the functions on
teach pendant.
a
f•2
and
a
1• 3
function keys and the display on the
• When no welding condition file is set:
Key on Teach Pendant
Function
Display and Setting
f2
For welding voltage command
VWELD 14.00
f3
For welding current command
AWELD 14.00
When welding condition file has already been set:
Key on Teach Pendant
------------------------------ — — ...............
Function
Display and Setting
For absolute welding voltage (when
welding current file has already been
set)
ABSVOL
12
280
Welding voltage abso
lute value
For welding current command (when
welding voltage file has already been
set)
ABSCUR
13
15
Welding current abso
lute value
When the setting is zero (command value specification) in the weldingcondition input specified parameter (WE04), the display and the setting
become VWELD and AWELD.
For the registration, see Par. 8.1.5 “Registration and Edit of Instruction” on Motoman Series
OPERATOR'S MANUAL (TOE-C945-100).
— 6 —
1 .3 . 3 Welder Condition File Setting
To use the welding conditions input function at absolute values, perform on a workpiece
under real task conditions such as welder used and wire length, and then restore the m ea
sured data between command voltage and welding current/voltage to the welder condition
file.
(1) Construction of w elder condition file
There are two welder condition files as shown below.
• For welding voltage conditions:
Condition file for welding voltage command (between C N D -3 and -5) of welding com
mand board (EW02)
• For welding current conditions:
Condition file for welding current command (between CND -15 and -17) of welding
command board (EW02)
Depress L^'sp chg
soft key to switch the files.
I F5 I
Table 1.1
Data Items
Data Items and Contents
Description
Contents
Name
File name
8 characters max. in full size
16 characters max. in half size
Command
Command data
Plus: Set when plus voltage (0 to 14 V) is commanded to
the welder.
Minus: Set when minus voltage ( — 14 to 0 V) is com
manded to the welder.
Command Value
AWELD and VWELD
data at measuring
Set both values of command value and measured value
when welding voltage/current is measured.
Input point number of measured value must be determineded arbitrarily in a range of 3 to 8 points.
Measured Value
Measured
value
of
welding current/voltage
Correction Value
Correction of output
Output value must be correct when the output value differs
from welding condition data due to fluctuating error of sup
ply power.
Input range: 0.8 to 1.2
The data in Table 1.1 are set, resulting in welding condition setting by approximate value
of welding current/voltage.
— 7 —
Fig. 1.1
Shows output character when welder condition absolute values are input.
Fig. 1.1
Output Character when Welder Condition Absolute Values are Input
After dividing the measuring points into blocks, interpolate the command voltage values to
linear in each block.
When the welding current/voltage is in a block other than measuring data range (it exists
in block (D and beyond), interpolate the command voltage value to linear by utilizing the
character preceding block (the character between @ and (D).
When the preset welding current/voltage is not output due to fluctuation of power source
voltage supplied to the welder, adjust the command voltage value by correction value, as
shown in Fig. 1.1.
—8—
(Correction Value)
1. When the power source voltage supplied to the welder is low, adjust it at a correction
value in the range of 0. 80 to 0. 99.
(e. g.) When only 180A is output at 200A command,
set the correction value at 0. 90.
2. When the power source voltage supplied to the welder is high, adjust it at a correction
value in the range of 1. 01 to 1. 20.
(e. g.) When 220A is output at 200A command,
set the correction value at 1.10.
(2) Data setting method
— <Operation on the Operator’s Panel >-
a
(Description)
OP2
Depress
□
8 I 9
5
o
1 I 2
n
key.
OP2
Input the user ID number.
.
Si
■B
Depress > key four times.
m
P a ra m e te r 1 F lo p py
<U
FI
«
C a lib ra te |j C lo c k Set
F3
F4
I/O monitor
F5
>_
_
Depress
0
W. cond. job
— ------ —
„ .
soft key.
F2
W .cond.job
F1
<
F2
F3
F4 || F5 || [>
This display (welder conditions)
will appear.
WELDER CONDITION
NAME : WELDER-No. 1
WELDER CURRENT
RANGE : +
COMMAND MEASURED
VALUE(A)
VALUE(V)
100
STORED: ON
1.00
150
ADJ. RATION
2.20
170
3.00
200
4.00
230
5.00
250
6.00
10.00
310
*
*
E xit
D ata d it
CHG RANGE
D ata ch g
D isp ch g
4
— 9 -
To alter the data, go to step 5.
To delete the data, go to step 5'
-<Operation on the Operator’s Panel >g
<Description>
(Altering data)
(
After moving the cursor to the position to
1)
Exit
<
|CHG RANGE
D ata d it
F1
F2
F3
Data chg
F4
be altered, depress
D is p chg
F5
Data chg
soft key.
F4
Input the data and depress
The data are altered.
>
ENTER
key.
(2 )
□BP
B
g
Q
i
o_
'
T *
(Deleting data)
After moving the cursor to the position to
be deleted, depress
Data dit
soft
key.
E xit
<
F1
D ata d it
F2
CHG RANGE
F3
D ata chg
F4
F2
D is p chg
F5
The data are deleted and the display at
the position is changed to m a r k * .
>
After all setting for w elder conditions
are completed, be sure to depress
Exit
soft key.
F1
E xit
D a ta d it
CHG RANGE
D a ta c h g
D is p ch g
Then, check if the item “STORED” on
the screen is “O N ”.
FI I F2 || F3 || F4 || F5 || > |
= &
1. If the item “STORED" on the screen is
“OFF” , this function can not be ex
ecuted.
2. When the contents of data file are
changed, the item “STORED” shows
“OFF” . Therefore, be sure to depress
I Exit | soft key.
rm
— 10 —
1. 3. 4 Floppy Operation
The welder condition data file can be executed load/save by using floppy.
It is contained in the condition program data group.
(1) Load/save to the floppy
For detailed floppy operation, see Sec. 9 “Data Storage (Floppy Disk Unit Operation)” in
Motoman Operator’s Manual (TOE-C945-100) .
Perform the load/save operation as follows.
(Description)
< Operation on Operator’s Panel >
Depress
I opi
I
key and insert a
floppy disk in the floppy disk unit.
I Floppy I
Depress
soft key-
Floppy display will appear.
"(BCD
Set the
Data.
_
cursor to Condition
I
Load
Depress — [~p[~1
I
or
Save
[~F2~|
I
.. .
y'
Load/save display of welder condition
file is shown.
FLOPPY
REGISTERED FILES : 123
FLOPPY—MEMORY
(CONDITIONAL PROG/DA TA)
OTOOL DATA
TOOL DATA
OWEAVING DATA
WEAV .DATA
OUSER COORDINATE DATA
UFRAME DATA
OWELDER CONDITION DATA
ABSWELD DATA
OPOSOUTDATA
POSOUT DATA
(O) : DOES NOT EXIST IN THE FLOPPY DISK
Page 4
I
Program
Page f
A b o rt
E xecu te
— 11 —
Set the cursor to W e ld e r Condition Data.
To execute the load/save, depress
I Execute I
|~F5 ~|
soft key.
1.
Be sure to use OP2 function to load
from floppy.
2.
When the welder condition data are
load from floppy, the setting may be
“OFF.”
After loading, be sure to depress
Exit
F1
soft key on welder condition
display to complete the setting.
For details, see Par. 1. 3. 4 (2)
"Data setting method”.
(2) Data format at floppy save
When w elder condition file is saved to floppy, the format is shown below.
//A B S W E L D 1
> V oltage condition file
///N A M E W EL D E R -N O . 1
> N am e
0
11111110
> C om m and 0 1 +
11 —
> T h e num ber of data. 1 is set data.
100. 150, 170, 200. 230, 250. 310. 0
> A bsolute data
1.00 2 .2 0 . 3 .0 0 . 4 .0 0 . 5 .0 0 . 6 .0 0 . 10 .0 0 . 0 .0 0
> C om m and data
1.00
> C orrection value
//A B S W E L D 2
> C urrent condition file
///N A M E W EL D E R -N O . 2
> N am e
0
11111110
> C om m and 0 1 +
11 —
> T h e num ber of data. 1 is set data.
25. 50. .100, 125. 150, 200. 250, 0
> A bsolute data
0 .7 5 1 .5 0 , 2 .2 5 . 3 .0 0 . 4 .0 0 , 6 .0 0 . 7 .5 0 , 0 .0 0
> C om m and data
1.00
> C orrection value
— 12 —
I
1. 3. 5
Parameter Setting
Set the parameter as follows.
W E04
( W e l d e r c o n d i t i o n in p u t
0 : C o m m a n d value
s p e c if ie d p a r a m e t e r )
1 : A b so lu te value
* Initial setting is 0.
When “Welding conditions input function at absolute value” is used, set the parameter to
WE04 1
1. 3. 6
Alarm and Error Display
(1)
Alarm display
Table 1.2
Alarm
No.
1530
Displayed
Message
DESTROYED
FILE
(WELDER
CONDITION)
Alarm Display
Contents
Remedies
Setting not com pleted:
1 0 0 1 0 0 1 1
L,Voltage
After checking the contents of file
(voltage/current) displayed in data,
file
-Current
file
depress
F1
-Setting
not completed
soft key.
File destruction :
Contact your Yaskawa representative
for maintenance alarm code.
-File
destruction
(2)
Exit
Error display
Table 1.3
Error
No.
1090
Error Display
Displayed
Message
Illegal DATA in the
file.
Contents
When the setting data are 2 items or below, multiple measuring values
are set in the same command value or multiple command value is set in
the same measuring value.
— 13 —
1. 4
WELDING CONDITION CHANGE DURING OPERATION
While the manipulator is moving, welding condition is changed confirming the actual w eld
ing status. The correction data are rewritten automatically at arc off point or at execution of
next condition instruction.
Be careful when changing the condition because the manipulator is moving.
-< Operation on Operator’s Panel >-
(Description)
D EEHD
|p l a y I
Depress
— Ä > S e t re g u in n g fun ction
Depress
S pe e d ad) j | A d js t condj jsiow speed
<
F1
F2
F3
C heck
F4
P LAY
I Ad) st cond I
key.
soft key.
Release
F5
A condition change operation is possible
[>
on teach pendant.
-< Operation on Teach Pendant > -
o
□
Depress
ENABLE
key.
Depress
t•2
key.
Depress
t ■3
key.
\
• Where changing welding voltage :
f•2
Where changing welding current:
f • 31
m
+
1
O N .1 ^
or
Change the setting value by using
O F F,
O N
— 14 —
or
OFF
key.
1. When the following operation is executed, condition change operation becomes invalid.
| speed ad| |
• Any — I .
j
Check
, —|
i
|
or
|
Release^
■
Soft key is depressed.
• Mode is changed.
• Alarm or error occurs.
• The power is cut off.
• Emergency stop button is depressed.
2. Execute the data change at actual (Arc ON) status to set the precise data.
3. Where the manipulator stops during data change operation, the data of last execution condition
instruction cannot be rewritten.
1.5
SOFT WEAVING
Weaving is possible by specifying the weaving block and by setting the weaving condi
tions.
In teaching weaving, specify the weaving block by setting the weaving start and end
points. Then, on the next weaving start point, register wall points as reference points to
specify the weaving tracking direction.
The required conditions in welding such as amplitudes and frequencies should be reg
istered in weaving condition file which can be used for common utilization.
REFP1
(Wall point)
REFP2
^ x ^ fW a ll point)
STEP5
(Weaving Instruction)
• Weaving start : WVON
•D D
File No.
• Weaving end : W VOF
• Wall point: REFP □
STEP
I N S T R U C T IO N
001
MOVL
002
MOVL
003
MOVL
W VON
REFP
—»-Weaving condition file
\ \
* w e a v in g p a tte rn
• A m p litu d e s
R EFP
004
M OVL
W VOF
005
• F re q u e n e y
M OVL
• T im e r
(FILE: 1 to 16)
Fig. 1. 2 Example for Weaving Setting
Specification of simple or
triangle or L-shaped
vibration
Specification at half
amplitude
1. 5.1
Registering Weaving Point
Teach two consective wall points.
They can be specified workpiece wall directions or
weaving directions.
REFP1
REFP1
tv
|> R E F P 2
»
/
1
*2 :
REFP1
2 .-— *
(a)
(b)
H orizon tal Fillet
S in g le -B e v e l G roove
(c)
R E FP 2
S in g le -B e v e l G roove (V type)
Fig. 1.3 Weaving Point Registration Position
Register wall point as follows.
(Description)
REF
PNT
Depress
key.
The lamp lights.
Select the reference number 1 or 2
(Display on teach pendant)
R E F P
1
Decide the wall point position and
depress
record
key.
W e ld in g s ta rt
p o in t
W a ll p o in ts a re p o s itio n d a ta n e e d e d to s p e c if y th e b a s ic d ir e c t io n o f tr ia n g u la r w e a v in g d a ta .
T h e w e ld lin e d ir e c t io n a n d p o in t R E F P 1 a re s ta n d a r d .
S p e c if y R E F P 2 on th e le ft o r r ig h t s id e
o f th e w e ld in g d ir e c tio n .
Fig. 1.4
Wall Point Registration
— 16 —
1. 5. 2
Specifying Weaving Condition File and Registering Weaving Condition
Register conditions needed of weaving in files in batch.
Specify desired file by the weaving ON instruction.
Weaving ON instruction : WVON
□ □
Î
J
S p e c if y w e a v in g f ile N o . 1 to 16.
A b b r e v ia tio n o f w e a v in g O N .
★
Procedure for calling up weaving condition file
--------- < Operation on Operator’s Panel > -------------\
(Description)
□
D IS P
Depress
DISP
key.
B
Position
Job
File
[< f || F1 |[ F2 || F3
Diagnosis
F4
S T A C K DISP
F5
Depress
Depress
I
Cond file
Page t
Variable
soft key.
>
_
Page
File
F3
I Cond file I
—
.. .
soft key.
Search
The weaving condition display
<
F1
F3
F2
F4
(Fig. 1. 4) will appear.
F5
o
WEAVING PARAMETERS (FILENO.:01)
MODE(0 : SIMPLE, 1 : TRIANGLE, 2 : L-GROOVE)
(0 : SMOOTH 1 : NO SMOOTH)
WEAVE SPEED SETTING (0 : FREQ 1 :TRAV. TIME)
WEAVE FREQUENCY
TRIANGLE WEAVE: VERTICAL
: HORIZONTAL
: ANGLE OF V/H
WEAVE ADVANCE ANGLE
Page
t
Page
I
Fig. 1.5
Data chg
Search
Weaving Condition Display
— 17 —
= □
= □
= □
= □ □ □ □ .□ m m
=
□ .□ H z
= □ □ □ □ .□ m m
= □ □ □ □ .□ m m
=
□ □ □ .□ c le g
=
□ □ .□ d e g
|
Disp chg
0
Call up the desired weaving condition
I Page I 1 ^ I Page f
F1
F2
...
.
file by using
I Paqe 1 I
—
or
I Paqe t
—
I
soft
key.
o
□
□
□
□
There are 16 weaving condition files.
The contents of each file are divided
and displayed in two displays.
Fig. 1.6 Weaving Condition Files
★
Procedure of setting weaving condition data
(Description)
Depress I
d is p
I key.
Specify the position to be set by cursor.
_
Depress
I Data ch q |
r r in
.
.
soft key
and set the weaving condition data.
— 18 —
welding condition jobs will be useful.
Welding job
Welding condition job
MOVL
MOVL
CALL JOB : ARCON
REFP 1
REFP 2
MOVL
VWELD
AWELD
ARCON
TIMER
WVON
VWELD
AWELD
END
Weaving condition file
CALL JOB : ARCOF
MOVL
W VOF
AKCOF
EN D
Fig. 1. 7 Example for Effective Teaching Method
W here the same weaving pattern is executed continuously, register wall points
(REFP 1 and 2) only at first start position. By only this registration, the manipulator
repeats the same motion.
W A L L PO INT
— 19 —
1. 5. 3
Detail of Setting Data
WEAVING PARAMETERS (FILE NO : 01)
MODE (0 : SIMPLE, 1 : TRIANGLE, 2 : U2ROOVE)
(0 : SMOOTH, 1 : NO SMOOTH)
WEAVE SPEED SETTING (0 : FREQ 1 : TRAV. TIME)
WEAVE FREQUENCY
TRIANGLE WEAVE: VERTICAL
HORIZONTAL
ANGLE OF V/H
WEAVE ADVANCE ANGLE
|
Page
(7)
1 St.
2 nd.
3 rd.
4 th.
1 St.
2 nd.
3 rd.
4 th.
t
Page
=
=
=
=
=
=
=
=
□
□
□
L
O
U
D
•D r u m
□ .□H z
□
□
L i n .L J m m
O
•L J m m
□ □ □ . Ddeg
□ □ . Ddeg
□ L
J
O
Weaving
|
WEAVING PARAMETERS (FILE NO.: )
TIMER MOIBO : HALT, 1 : FINISH)
= □ Timer = D D D .D D s e c
TIMER MODE
= □
= Q H Q O I]sec
TIMER MODE
= d
= n n n o n Sec
TIMER MODE
= D
= D D Q D D sec
= □ □ □ •□ □ sec
TRAVERSE TIMER
= □ □ □ •□ □ sec
TRAVERSE TIMER
= □ □ □ .□ □ s e c
TRAVERSE TIMER
= □ □ □ .□ □ s e c
TRAVERSE TIMER
Page
Î
Page
i
Weaving
Fig. 1.9 Weaving Condition Displays
(1)
MODE
• Select the weaving mode among
three types.
\
[K
0 : S im ple
1 : T ria n g le
llf k .
2 : L -g ro o ve
• Specify smooth or no smooth.
0 : Sm ooth
1 : N o sm ooth
Fig. 1. 10 Weaving Mode
(2)
WEAVE SPEED SETTING
Select the method to set the weaving tracking speed from the following :
0: Set by the frequency (FREQ)
1 : Set by the moving time of each weaving block (TRAV. TIME)
— 20 —
I
(3)
AMPLITUDE FROM CENTER
These data become effective when the weaving mode is set to “simple mode”.
If a triangle as shown in Fig. 1.11 is taught, weaving is performed parallel to the
hypotenuse of the triangle at the start point.
Fig. 1.11 Setting of Amplitude from Center
(4)
WEAVE FREQUENCY
These data become effective when the weaving speed setting method is specified to
“frequency”.
Set the frequency within operation limit range since frequencies are limited as
shown in Fig. 1.12. However, Fig. 1.12 show data only for manipulators K6 SB and
K10S.
: O peration lim it range
25
20
A m p litu d e
(mm)
15
10
Fig. 1. 12 Relationship between Weaving
Amplitude and Frequency for Manipulators
K6SB and K10S.
0
1
2
3
4
5
F re q u e n cy (Hz)
(5)
TRIANGLE WEAVE
Triangle data must be set to define the basic weaving pattern irrespective of the w eav
ing mode. The triangle data are set as shown in Fig. 1.13.
<Range>
A n g le : 0.1 to 180.0 d e g re e
H e ig h t / W idth : 1.0 to 25.0m m
Fig. 1.13
— 21 —
Triangle Weaving Data
(6 ) WAVE ADVANCE ANGLE
The weaving tracking direction for weld line can be set by using these data.
The data
are set as shown in Fig. 1.14.
0
DEGREE
Advance an g le : —90. 0 to + 9 0 . 0 d e g re e
Fig. 1.14
(7 )
Weaving Advance Angle
TIMER MODE AND TRAVERSE TIME
One weaving period is divided into © to ® blocks, as shown in Fig. 1.15. Trianglewave weaving is blocks © to ( D .
The weaving speed for each block can be set individually by using traverse time. A
timer can be set halfway (nodal point) between blocks by using either m ethod; weaving
stop (pause) or manipulator stop.
The data are set as shown in Fig. 1.15.
REFP1
M an ip u la to r stops.
S ingle
O 1 : Stop sp e cifica tio n
T ria n g le
REFP1
L -g ro o ve
W e aving stops but m an ip u la to r m oves.
REFP1, R E F P 2: W a ll point
O S ) © ® : B lo ck n um ber
Fig. 1.15 Timer Mode and Traverse Time
— 22 —
1.6
WIRE INCHING OPERATION
Wire inching operation is possible on teach pendant.
Output number 63 is reserved for wire inching operation.
< Operation on Teach Pendant > -
D
(Description)
T e a c h p e n d a n t d is p la y
0 u T
6 3
B
+
Call up “OUT 63” on teach pendant
display.
O F F
mON J l
Depress
= f \
OUTPUT
+
O N
key with remaining
key.
Wire inching signal is output during key
depression.
The condition for wire inching operation is no arc-on instruction specification in TEACH
mode.
This is controlled in I/O section.
O U T 63 TEACH M O D E ARC ON
W IRE IN C H IN G
<>---------- II-------------- II----------- ------------------- O---------- 1*
Fig. 1.16 Condition for Wire Inching Operation
— 23 —
1.7
STOP BY WIRE STICKING
Wire sticking is a status where welding wire and bead are connected under no welding.
The Motoman monitors the wire sticking status when ARC OFF is executed in PLAY mode
START
and
button is depressed in PLAY or CHECK mode.
»Stop
HOLD
(f))
When wire sticking is detected,
YASNAC ERC
lamP on
operator’s panel is lit automatically and the manipulator
[WIRE STICKING]
stops immediately.
|-----<1
I
The external output relay [wire
sticking] is activated.
(The contact is closed.)
----- 7
f T
/
ON
»Restart
lamp goes off
When the stuck wire is cut,
YASNAC ERC
and the external output relay [wire sticking]
is re[WIRE STICKING]
leased.
(The contact is opened.)
START
In this status, depress
(fy)
t
button on oper
i
p
OFF
ator’s panel.
The manipulator moves again from the position.
1 .8
“— ’
I--------y
Fig. 1.17
STOP DURING WELDING
If the manipulator stops during welding, the ARC OFF is executed automatically.
• Restart
START
Depress
button on operator's panel. The ARC ON is executed and the manip-
ulator moves to the displayed step.
At this time, the welding conditions (current, volt
age, etc.) are those of the last executed instruction V W E L D /
/A W E L D /
LO C U S from re sta rt
|T|
(Stop and resta rt p o sitions are same.)
ARC ON
LO C U S from resta rt
/S to p and resta rt po sitio n s are
R estart g ]
)
^d iffe re n t.
/A fte r th e m an ip u la to r stops,
\
VMt
it is m oved hby
v tte
ea
a ch
r h np Ae nnrdtaannt t/'
B e s u re to r e s ta r t th e m a n ip u la to r a t s t o p p e d p o s itio n b e c a u s e it e x e c u te s A R C O N fro m th e
r e s ta r te d p o s itio n .
If th e m a n ip u la to r is m o v e d , p u t it b a c k to th e s to p p e d p o s itio n b y u s in g
te a c h p e n d a n t.
Fig. 1.18
Stop and Restart during Welding
— 24 —
1. 8 STOP DURING WELDING (Cont’d)
F o r c ir c u la r o p e r a tin g o r w e a v in g , th e m a n ip u la to r is r e s t r ic t e d a s fo llo w s .
Stop Method
HOLD
Restart Method
Operation
C ir c u la r in te rp o la tio n
W h e n th e s to p a n d r e s ta r t p o s itio n s a re th e s a m e , A R C O N
a n d W e a v in g
is e x e c u te d fro m th e p o s itio n a n d c ir c u la r in te r p o la tio n or
C ir c u la r in te rp o la tio n
T h e o p e ra tio n is n o t p o s s ib le .
s o ft w e a v in g o p e ra tio n is re s u m e d
Stop except
i
HOLD
S o ft w e a v in g
A R C O N is e x e c u te d w ith o u t w e a v in g o p e ra tio n .
2. SPOT WELDING
2 .1
(1 )
S P O T S T A R T IN S T R U C T IO N
Registration from teach pendant
(Description)
f ■o
Depress
key.
Function
Without condition No: G UNO N instruction
registration
With condition No: CALL instruction registration
$
CALL JOB: G UNON
□ □
~ r
specified condition No.
Call up the desired condition No. by using
+
or
O N
key.
OFF
Depress
key
record
(Description)
Depress
1 Insert ~|
FI
key and
DISP
soft key.
_
|
Depress
—f r r ]
Device
|
„
.
soft key-
I GUNON I
Depress
ENTER
—frrf
soft key and
key.
G UNON instruction has just registered.
- 26 —
I
(3)
Function
Outputs the spot gun ON instruction (welding instruction).
Turns on the work start instruction (relay # 5050), and waits for the work start re
sponse (relay #4050), to execute the next instruction as soon as the work start response
turns on.
The work start response relay is acknowledged by AND between WELDING C O M
PLETE signal from the spot welding machine and GUN OPEN signal. If GUN OPEN sig
nal is not to be used, short-circuit 6 TB - 8 and 0V.
2. 2 SPOT TIMER CONDITION INSTRUCTION (TMWELD XX)
(1 )
--------------< Operation on Operator’s Panel>----------------------- x
a
(Description)
Depress
1■1
T
M
W
e
|
X
D
l
+
O N
0 to 15
from
or
depress
the date.
OFF
RECORD
Operator’s Panel
------------ < Operation on Operator’s Panel > -------
O
' e d it '
'-----------&
and
Insert
B
In /O u t
FI
S e q u e n ce
F 2
D e vice
F3
i
------ &
Shift
Same cond
F4
F5
m
GUNON
FI
□
key
Set the condition data by using
X
Condition data:
(2) Registration
f•1
GUNOF
F 2
T M W E LD
F 3
“ T M W E L D X X ” in s tr u c tio n is r e g is te r e d b y d e p r e s s in g
Î
In p u t th e d a ta b y D A T A ( d ig it) k e y s .
— 27 —
F4
1 ENTER 1 k e y .
F 5
key, and
key to register
(3)
Function
Outputs the spot welding conditions by binary data (0 to 15) against the spot welding tim
er unit.
The condition output uses the 4 bits of general output O T # 9 (relay # 3040) to OT #
12 (relay #3043).
(Example)
When TMW ELD 10 is executed,
Relay # 3040 “off” 0 is output.
3041 “on” 1
3042 “off” 0
3043 “on” 1
W h e n w e ld in g th ro u g h th e te a c h
p e n d a n t, s e t th e w e ld in g tim e r c o n d itio n s fir s t.
S e t th e
w e ld in g t im e r c o n d itio n s a s fo llo w s .
-< Operation on Teach Pendant >-
O
T
M
W
E
L
D
0
1
Welding timer condition No.
0 to 15
The contents of the display data are output to the output relay Nos. 3040 to 3043(4-bit
data).
The logical output relay No. 1080 (out57) to 1083 (out60) are actually controlled, and
assigned to the output relay Nos. 3040 (between 2TB1 and 2) to 3043 (between 2TB7 and
8
), by the I/O ladder.
#1080
1!
II
#3040
# 1 0 81
i i
11
# 3 041
#1082
I I
II
#3042
#1083
#3043
II
w
a
W
" W
W
— 28 —
Welding
Condition
Output
Terminal
2°
2TB1-2
21
2TB3-4
22
2TB5-6
23
2TB7-8
I
(Example) When TM W ELD 10 is executed,
#1080
#1081
#1082
#1083
—
—
—
—
# 3 0 4 0 •' OFF(O)
# 3 0 4 1 :O N (1 )
# 3 0 4 2 : OFF(O)
# 3 0 4 3 : 0 N (1 )
2 1+ 2
For registering this status, depress
at teach pendant display
T
W
M
3
= 10
RECORD
L
E
key
D
(Display on Operator’s Panel)
MOVL V L = 3 0 0 . 0
PL = 0
Spot position
T M W E L D 10
END
— 29 —
1
0
2.3
SPOT GUN FULL OPEN (STROKE CHANGE) INSTRUCTION
(1 ) Operation from teach pendant
When the spot welding gun stroke has two steps, the gun must be fully opened to make
a large move from the spot position. This gun full open instruction uses the general out
put relay (the relay number set in parameter SC236 ; initial value : 64) and is operated by
f ■2
key.
the
The gun full open instruction is controlled by the general output signal (relay contact
output between 3TB 3 and 4 ; relay No. 3045).
-< Operation on Teach Pendant >-
D
(Description)
a
f . 2
Depress
o u T
6 4
f•
2
O F F
Î
Gun full open status
General output relay No. (OT #64)
#1087 (OT #64)
#3045
— • —
Depress
B
=
2
+
ON
+
U
IT
|
key
f •2
remaining
key.
The spot gun is opened fully.
O
0
+
O N
I
6
4
c
See
N
B Only for registering the instruction ;
Depress RECORD key.
In this case, DO UT OT # 64 1 instruc
tion is registered.
RECORD
Depress
f•2
+
key remaining
O FF
f •2
0
o U IT j I
O FF
6 4
The
C F F
key.
gun full
open
instruction
is re
leased.
g
Only for registering the instruction ;
Depress
RECORD
record
key.
In this case, DOUT OT # 64 1 instruc
tion is registered.
« I»
A fte r o u tp u ttin g th e G U N F U L L O P E N in s tru c tio n , c h e c k th a t th e g u n is f u lly o p e n (g u n fu ll o p e n
L S ) b y th e W A IT , u s in g th e g e n e r a l in p u t.
— 30 —
I
2.4
DRY SPOTTING FROM TEACH PENDANT
-(Operation on Teach Pendant)-
n
(Description)
f.. ..i.'-f
a
Depress
f
•3
key.
f • 3
<>
O U T
B
6 3
Dry spotting is performed during de-
+
f • 3
O F F
ON
pressing
f ■3
+
and
o
o U IT I 1
6 3
W hen
O N
f ■3
keys.
O N
+
and
O N
keys
a re
r e le a s e d , th e in s tru c tio n is r e s e t.
O u T
6 3
0 F F
When actual welding (not dry spotting) is to be instructed through the teach pen
dant, perform the following operation before the above operation. This operation holds the
welding input signal within the I/O ladder. Welding will actually be accomplished by the
spotting operation, because the welding signal is input.
(Description)
Depress
D
O UTPUT
key.
O
O U T
B
OUTPUT
6 2
O F F
Spot welding is executed during de-
+
ON
pressing
O u|
t
|
|
6 2
O N
O UTPUT
W hen
th e s e
keys
w ill
s to p .
w e ld in g
+
and
ON
a re
The
keys.
r e le a s e d ,
th e
d is p la y
w ill
change.
0 U T
— 31 —
6 2
O F F
Ladder for welding ON conditions
O UT62
TEACH M O D E
R U N N IN G
OUT61
T e a c h O p era tio n
------- H-------- # ------ t f -
W e ld in g instruction
H O LD
PLA YBACK
EXTERNAL
W E LD IN G OFF
CHECK MODE
W e ld in g ON
O utput signal
--------- ------------- 1--------- ---------------------T E A C H IN G
I W E LD IN G INST. AT T E A C H IN G
G U N O N INST
O n c e th e w e ld in g “ o n ” o p e ra tio n is p e r fo r m e d , th e w e ld in g “ o n ” s ta tu s is h e ld .
s ta tu s c a n
be
r e s e t b y c h a n g in g
th e m o d e , o r b y p e r fo r m in g
T h e w e ld in g “ o n ”
s e q u e n tia l o p e r a tio n
u n d e r th e
TEAC H m ode.
2 .5
LIST OF OPERATION ON TEACH PENDANT
key
i-o
Contents
R e g is tr a tio n o f G U N O N o r C A L L
( R e s e r v e jo b n a m e )
TM W ELD X X
+
in s tr u c tio n r e g is t e r in g (S e t b y
O N
f • 1
or
OFF
k e y .)
( C o n d itio n d a ta )
O u tp u t o f te a c h p e n d a n t d is p la y d a ta
f • 2
1 C o n tro l o f s p o t g u n (G U N F U L L O P E N in s tru c tio n )
(1 )
T h e r e la y (G U N F U L L O P E N ) in p a r a m e t e r S C 2 3 6 is tu r n e d on b y d e p r e s s in g
and
f •2
+
k e y s s im u lta n e o u s ly .
ON
< T e a c h P e n d a n t D is p la y )
o u T
6 4
ON
RECORD
D O U T O T # 6 4 1 in s tr u c tio n is
r e g is t e r e d .
(2)
T h e r e la y (G U N F U L L O P E N ) in p a r a m e t e r S C 2 3 6 is tu r n e d o ff b y d e p r e s s in g
and
f •2
U
Q~ F
4
6
T
k e y s s im u lta n e o u s ly .
0
F
F
O
RECORD
D O U T O T # 6 4 0 in s tr u c tio n is
C o n tro l o f s p o t g u n ( G U N O N in s tru c tio n )
f •3
f •2
W h ile
+
and
O N
k e y a re d e p r e s s e d th e r e la y ( G U N O N in s t.) w h ic h is s e t in p a ra -
m e t e r S C 2 3 7 is tu r n e d on.
O
W he n
O
u
T
1 -3
u
T
3
6
a nd
+
O N
6
3
O
N
k e y a re r e le a s e d , th e r e la y is tu r n e d o ff.
O
F
F
— 32 —
2.6 SPOT WELDING DIAGNOSIS FUNCTION
The diagnosis display of each application is added in the display shown in Fig. 2.1.
----------- (Operation on Operator’s Panel)------------- x
(Description)
Depress
D
DISP
key.
D IS P
_
I Diagnosis!
— 1- 7 7 - 1
soft key.
_
I
I
Depress
Depress
S
lia
A PPLI-D G N
¡===¡
If I Appu-DGN
soft key.
1
soft key is not
displayed, depress
F il
I > I key.
F2 H F3 H F4 || F5 ||ï> \
=05
□
This display will appear.
SPOT WELDING
Spot Weld Times per Tip
99999
(1-99999)
NUMBER OF WELDS
AVAILABLE WELD TIME
(0-25.5)
WORKING ABORT PROCESS
(KEEP/RELEASE)
Set date
times
0 times
•<n The descriptions of number (1) to (3) are
shown the following pages.
h i)
0 sec
KEEP
Clr time
Fig. 2.1 Diagnosis Display
— 33 —
(1)
Spot Weld Times per Tip and NUMBER OF WELDS
• “Spot Weld Times per Tip” is set by placing the cursor as shown in Fig. 2. 1, and de
pressing the I set date | soft key.
(Initial value : 99999)
"Spot Weld Times per Tip” can be reset to “0” by depressing
the C i i i p
LÊEJ
softkey.
• “NUMBER OF W ELDS” is 7 digits maximum and incremented by execution of the spotwelding start instruction (GUNON).
• “NUMBER OF W ELDS” becomes “0” when the special CHIP CHANGE COMPLETE
signal is input.
• “Spot Weld Time per Tip” and “NUMBER OF W ELDS” are constantly compared.
If it becomes “NUMBER OF W ELDS” è “Spot Weld Time per Tip”, “CHIP CHANGE
REQUEST” of special output signal (# 5 0 9 0 ) is turned on, and set the status in the sys
tem byte type variable $B10.
• The state of the CHIP CHANGE REQUEST signal can be determined by the system
byte variable $B10, so it can jump to the chip change job by giving the necessary in
struction when the CHIP CHANGE REQUEST turns on.
(Example) Control Job
NOP
CALL JOB : CHIP CHANGE
IF $B10 = 1
Chip change
NOP
MOVJ Move to the chip change position
PAUSE or waiting for input
RET Restart by CHIP CHANGE COMPLETE
I_
END
END
— 34 —
(2)
AVAILABLE WELD TIME
The time from execution of the spot start instruction (GUNON) to the end of the spot is
controlled.
• The time allowed for a single spot is set in the display (Fig. 2.1), by moving the cursor
to the “AVAILABLE WELD TIME" position and setting optional data.
( 0 to 25.5, Initial value : 0 )
• If the spot welding time of a single spot exceeds the preset time, it is regarded as an
error and enters the alarm processing cycle.
T h e w e ld tim e c o n tro l is n o t p e r fo r m e d if th e p r e s e t tim e is “ 0 ” .
(3)
W ORKING ABORT PROCESS (KEEP/RELEASE)
If the welding is stopped while the G UNO N instruction is output, the G UNO N instruction
can be specified to be that of restart. The operation is always continued in spot welding,
regardless of the designation.
(4)
Error check process by concurrent I/O ladder
Description
User Alarm No.
Alarm 2010
Action
S P O T W E L D IN G E R R O R :
T h is
a la rm
ERROR
o c c u rs
s ig n a l
fro m
D e te r m in e w h y th e W E L D IN G
when
th e
W E L D IN G
s p o t w e ld in g
ERROR
in p u t s ig n a l tu r n e d o n , a n d r e m o v e th e
cause.
m a c h in e ( tim e r u n it) tu rn s on.
Alarm 2020
GUN ON ERROR:
W hen
C heck
d a ta o th e r th a n “ 0 ”
a re s e t as
to
s tic k in g .
m ake
s u re
th e
If th e
GUN
OPEN
w ir e
is
not
s ig n a l is
th e A V A IL A B L E W E L D T IM E in d ia g n o
n o t to b e u s e d , s h o r t - c ir c u it 6 T B - 8 a n d
s is ,
O V , to k e e p th e s ig n a l o n c o n s ta n tly .
th is
does
not
a la rm
end
o c c u rs
(A N D
if
th e
w e ld in g
b e tw e e n
w e ld in g
c o m p le t e a n d s p o t c o m p le te ) a fte r th e
s p e c if ie d
t im e
fr o m
th e
GUNON
in
s tr u c tio n o u tp u t.
Alarm 2030
W IR E S T I C K I N G :
R eset
th e
s t ic k in g
c o n d itio n .
If w ir e
If th e W IR E S T IC K IN G s ig n a l is tu r n e d
s tic k in g c h e c k is n o t r e q u ir e d , fin d o u t
o n fo r 2 . 0 o r m o r e s e c .
w h y th e W IR E S T IC K IN G in p u t s ig n a l is
w e ld in g
o c c u r.
is
c o m p le t e d ,
a fte r th e s p o t
th is
a la rm
w ill
tu r n e d o n , a n d r e m o v e th e c a u s e .
2. 7 ROUGH CONFIGURATION OF JOB
©
The start signal executes the control job (master job).
The manipulator moves to the
work zero point position, to wait for the workpiece to be set.
(2) When work-set complete signal is input, it jumps to the work job corresponding to the
type of workpiece (integers of 1 to N ), and performs the welding.
The NUMBER OF W ELDS is incremented ( + 1 ) upon each execution of the welding op
eration (GUNON).
(D
After all the spot welding is completed, the manipulator moves to the work zero point
position, outputs the W ELDING COMPLETE signal, and jumps to the control job. Then it
waits for the next workpiece to be set.
@
The “Spot Weld Times per Tip” preset in the manipulator diagnosis file and the spot
count incremented upon each execution of the G UNO N instruction are compared. When
it becomes “ preset count ^ spot welding count” , it jumps to the chip change job.
(D The manipulator moves to the chip change position, stops, and waits for the chip
change job to end. When the chip replacement ends, input the CHIP CHANGE C O M
PLETE signal as well as the restart signal. The manipulator will return to the control job,
and wait for the next workpiece to be set.
2.7.1
Editing the Control Job
©
Register the wait position (work zero position).
(2)
Register the necessary instructions from the opërator's panel.
(Example) Job name : CO NTROL JOB
Instruction
NOP
MOVJ VJ = 5 0.0 .............................................
JUM P JOB : CHIP CHANGE IF $B10 = 1
JUM P IG # 0 1 IF IN # 0 9 = 1
Description
•Work zero position
■$B10 : Chip change
request by system byte
type variable
•IG # 0 1 (IN # 1 t o 8 ) :
Type of w orkp iece=
Job number
IN # 0 9 : W ork-set
complete signal
END
2.7.2
©
Editing the Operation Job
Register the wait position (work zero position).
(D Teach the air-cut operation position by the normal teaching operation.
(D Teach the spot gun welding position.
@ Register the welding timer condition instruction.
(D Register the G UNO N instruction.
(D Teach the air-cut operation position to the next spot welding position.
©
Repeat step d ) through (6 ) for as many times as the spot welding points.
(D Register the wait position (work zero point position).
(Same position as step © .)
(Example) Job name : 1.......Work job 1 (workpiece A)
Instruction
NOP
MOVJ
MOVJ
Description
V J = 5 0 . 0 .................................... Work zero position
V J = 5 0 .0 N W A IT ......................Performs air-cut operation with gun full open
DOUT
O T#64 1
MOVJ
V J = 3 0 0 .0 P L = 0 ......................1st spot position
TM W ELD 1 .................................................Welding timer condition data 1
GUNON ....................................................... G UNON welding instruction
MOVJ
V J = 3 0 0 . 0 ................................... Move to the next spot position
MOVJ
V J = 5 0 . 0 N W A IT ......................Performs air-cut operation with gun full open
DOUT
MOVJ
PULSE
O T#64 1
V J = 5 0 .0 .....................................Work zero position
O T#()1 T = 0 . 5 ..........................Work complete
END
— 38 —
I
3. HANDLING
3 .1
H A N D O P E N (O F F ) / C L O S E (O N ) IN S T R U C T IO N
This instruction controls the two hands.
(I)
Operation and registration for HAND1 from teach pendant
f •o
Specify Hand 1 open/close instruction by using
key.
The ON or OFF display on teach pendant shows relay status which is set in parameter
SC280.
f-0
+
(Description)
Depress
+
+
O N
key with remain-
ON
ing
O
H A N D 1
f ■o
key.
Parameter SC 280 setting relay is set
O N
and parameter SC 280 setting relay
(H a n d 1 C lo s e in s tr u c tio n : O N )
No. + 1 is reset.
° o
+
Depress
OFF
ing
0
H A |N |D | 1
0
f ■o
OFF
key with remain-
key.
Parameter SC280 setting relay No. +
F F
( H a n d 1 O p e n in s tr u c tio n : O N )
1 is set and parameter SC280 setting
relay is reset.
— 39 —
I
-------------(Registration on Teach Pendant)-
(Description)
R e g is tra tio n o f H A N D 1 O F F
H A N D 1
Depress
10 1F | F
RECORD
key
when this display is shown.
RECORD
R e g is tra tio n o f H A N D 1 O N
H A N D 1
10 | N j
Depress
record
key
when this display is shown.
RECORD
W h e n r e g is te r in g th e h a n d o p e n / c lo s e in s tr u c tio n fo r h a n d lin g , th e jo b c a ll in s tru c tio n o f th e
r e s e r v e jo b is d is a b le d o n te a c h p e n d a n t, b e c a u s e it c a n e a s ily b e m is ta k e n w ith th e o p e n /
c lo s e in s tr u c tio n o p e ra tio n .
W h e n jo b c a ll is r e q u ir e d , r e g is te r fr o m th e o p e ra to r's p a n e l.
— 40 —
I
(2)
Operation and registration for HAND2 from teach pendant
f ■1
key.
Specify HAND2 open/close instruction by using
The ON or OFF display on teach pendant shows relay status which is set in parameter
SC 281.
f• 1
(Description)
H-
+
f•1
O N
H A N D 2
+
Depress
ON
O N
key with remaining
key.
Parameter SC281 setting relay is set
( H a n d 2 C lo s e in s tru c tio n : O N )
and the next relay (Parameter SC281
setting relay No. + 1 ) is reset.
Depress
f•1
O FF
key with remaining
O FF
f ■1
o
H A [N |D |2 |
key.
Parameter SC281 setting relay is re
O F F
set, the next relay (parameter SC281
(H a n d 2 O p e n in s tru c tio n : O N )
setting relay No. + 1 ) is set.
-(Registration on Teach Pendant)-
(Description)
R e g is tr a tio n o f H A N D 2 O F F
H A N D 2
fO|F|F
Depress
RECORD
o
key when this dis
play is shown.
RECORD
R e g is tr a tio n o f H A N D 2 O N
H A N D 2
Depress
f 0 |N |
record
play is shown.
o
RECORD
— 41 —
key when this dis
(3)
Registration from operator's panel
(Description)
Depress [
Insert
ED
_
Depress
Depress
Depress
key and
e d it
soft key.
[ D e vice
r jj-i
I
I HAND1 I
r-^-i
Lonl
pet
.
.
.
.
soft key.
soft key.
soft key.
If necessary, depress
T im e
F5
soft key and input the desired time,
and then depress
ENTER
key.
HAND1 ON (T = 1.0) instruction is
e- g.
registered.
— 42 —
(4) Function
<when HAND ON T = 1 .0 is executed)
Sets the parameter SC280 setting relay, and resets the next relay.
The input of the parameter SC282 setting relay is checked after 1.0 second on the timer.
HAND1 ON instruction is regarded to be completed when it becomes on, and execute the
next instruction.
User alarm 2030 “HAND1 CATCH CHECK ERROR” occurs if HAND1 CATCH CHECK
signal is not input for more than 3 .0 seconds after outputting the HAND1 ON instruction. If
the check signal is not used, short-circuit “HAND1 CATCH CHECK” 6TB-5 and 0 V.
<When HAND1 OFF is executed)
Resets parameter SC 280 setting relay, and sets the next relay.
Checks the next relay with the parameter SC 280 setting relay. And when it becomes on,
HAND1 OFF instruction is regarded to be complete to execute the next instruction.
User alarm 2050 “HAND1 RELEASE CHECK ERROR” occurs if HAND1 RELEASE
CHECK signal is not input for more than 3.0 seconds after outputting the HAND1 OFF in
struction. If the check signal is not used, short- circuit “HAND1 RELEASE CHECK” 6 TB - 6
and 0 V.
(Initial value of parameters and I/O signal allocation)
Initial
Value
Function
Parameters No.
SC280
H A N D 1 in s t.
w o r k re la y
SC281
H A N D 2 in s t.
w o r k re la y
SC282
H A N D 1 w o r k c h e c k re la y
SC283
H A N D 2 w o r k c h e c k r e la y
!
!
|
59
61
i
93
i
95
i
i
( S ig n a l p r o c e s s in g p a rt)
- X
-
# 7 040
#1083
— If—
-tf-
#1084
# 7043
# 1 0 8 2 (o u t5 9 )
H A N D 1 R e le a s e in s t
# 1 0 8 3 (o u t6 0 )
H A N D 2 C a tc h in s t
# 1 0 8 4 (ou t6 1 )
H A N D 2 R e le a s e in s t
# 1 0 8 5 (o u t6 2 )
H A N D 1 C a tc h c h e c k
# 0 1 2 4 (in 9 3 )
H A N D 1 R e le a s e c h e c k # 0 1 2 5 (in 9 4 )
H A N D 2 C a tc h c h e c k
# 0 1 2 6 (in 9 5 )
H A N D 2 R e le a s e c h e c k # 0 1 2 7 (in 9 6 )
# 7040
#7 040
# 3044
#7041
#3045
H §>-
- *
#7041
- I I #7042
#3046
#7043
#7043
#3047
t f —
-<§>-
H I—
#7044
#2014
#7045
#2015
— M —
#1085
#7042
H A N D 1 C ATC H INST.
H A N D 1 RELEASE INST.
#7042
— II—
—
H A N D 1 C a tc h in s t
( O u t p u t c o n n e c tio n p a r t)
#7041
#1082
— II-
Remarks
H AN D 2 C ATC H INST.
H AN D 2 RELEASE INST.
( I n p u t c o n n e c tio n p a r t)
#7040
#0124
— II—
H f —
#7041
#0125
Hh
#7042
-
m
-
#0126
-< § > #7046
#0127
#7047
---------- o-o -
h
- o
H AN D 2 CATC H INST.
#0127
-
— 43 —
#0126
#2017
-JHr-
H AN D 1 CATC H INST.
#0125
#2016
H
-H r ~
#7043
<=•
#0124
o
1.
In th e h a n d lin g a p p lic a tio n c o n c u r r e n t I / O la d d e r , c a tc h e r r o r a n d r e le a s e e r r o r p r o c e s
s in g a re p e r fo r m e d a c c o r d in g to th e in itia l v a lu e s o f p a r a m e te r s S C 2 8 0 t o S C 2 8 3 .
T h e r e fo r e , th e e r r o r p r o c e s s in g w ill n o lo n g e r b e a b le to b e p e r fo r m e d if th e s e ttin g
v a lu e s o f p a r a m e te r s S C 2 8 0 t o S C 2 8 3 a re c h a n g e d to o th e r r e la y n u m b e r s .
C hanges
in th e I / O c o n n e c tio n m u s t a ls o b e m a d e a c c o r d in g to th e s e ttin g v a lu e s .
2.
The
I/O
a llo c a tio n
o f th e
h a n d lin g
a p p lic a tio n
is o u tp u t to
# 3 0 4 4 (3 T B 1 -2 ) th ro u g h
i t 3 0 4 7 (3 T B 7 -8 ), s o th a t th e tw o h a n d s c a n b e c o n tr o lle d b y th e 2 -p o s itio n v a lv e .
W h e n c o n tro l is to b e p e r fo r m e d b y a s in g le v a lv e , u s e
# 3 0 4 5 (3 T B 3 -4 ) a n d
# 3047
(3 T B 7 -8 ).
3.
If th e in s tru c tio n m u s t b e tu r n e d o ff b y th e o p e ra tio n c o n firm
in p u t w h e n u s in g th e 2 -
p o s itio n v a lv e , c h a n g e # 7 0 4 0 th ro u g h # 7 0 4 3 to # 7 0 4 4 th ro u g h # 7 0 4 7 .
( O u tp u t c o n n e c tio n p a r t)
#7044
#3044
--------- II-------------------------------- • —
#7045
HAN D 1 CATC H INST.
# 3045
H AN D 1 RELEASE
# 7046
#3046
H I ----------------- • # 7 047
INST.
HAN D 2 CATC H INST.
#3047
H I ----------------- • -
HAN D 2 RELEASE INST.
— 44 —
(5)
List of operation on teach pendant
Operation
key
C o n tro l a n d r e g is tr a tio n o f H A N D 1
T h e p a r a m e te r S C 2 8 0 s e ttin g
©
r e la y is s e t a n d th e n e x t r e la y is
f-0
f •0
+
+
O N
r e s e t b y d e p r e s s in g
+
and
O N
keys.
HAND 1
O N
H A N D 1
f ■0
C A T C H IN S T .
£
F o r r e g is t e r in g it, d e p r e s s
RECORD
RECO RD I key.
f •0
+
T h e p a r a m e t e r S C 2 8 0 s e ttin g
OFF
r e la y is r e s e t a n d th e n e x t r e la y
£
A N D 1
O F F
HAND 1
is s e t b y d e p r e s s in g
R E L E A S E IN S T ,
and
f ■0
o T I ke*s'
£
RECORD
R ECORD k e y .
C o n tro l a n d r e g is tr a tio n o f H A N D 2
f • 1
©
f ■1
+
+
r e la y is s e t a n d th e n e x t r e la y is
O N
r e s e t b y d e p r e s s in g
£
f • 1
H
oN
H A N D
and
HAND 2
+
O N
keys.
C A T C H IN S T .
£
RECORD
RECORD
f • 1
+
key.
OFF
r e la y is r e s e t a n d th e n e x t r e la y
<0
HAND 2
H A N D 2
O F F
is s e t b y d e p r e s s in g
R E L E A S E IN S T .
f ■1
and
OFF
keys.
£
RECORD
R EC O R D k e y .
c=>
f •2
G e n e r a l r e la y
f ' 2 ^ ^
o u T
6 4
O F F
u T
6 3
O F F
C o n tro l
O
f •3
1• 3 J
<=> 0
Parameter SC237
3.2
PALLETIZING FUNCTION
This function reduces teaching procedures of palletizing operation or simplifies operation
jobs for workpieces whose loads are easily broken (such as bags) or those which cannot be
set at loading position by the parallel shift function.
This function operates the loading path for each workpiece created automatically by
teaching workpiece loading path (having more than one position data items) for the first
stage (odd-number stage) and second stage (even-number stage) on the pallet, and by
creating position data for workpieces automatically at the third stage and after, then spe
cifying the workpiece number at the playback.
Since this function has position data of operation paths for all workpices, position can be
corrected minutely for each workpiece.
(1) Instructions
Instructions for palletizing
PMOVJ
PMOVL
1
PM #01
1 0 0 ...
I— I variables for workpiece No. designation on pallet
----------------- Conditional file No. designation
-------------------------------- Operation path step No. designation
------------------------------------ .--------- Palletizing operation move insutruction
This move instruction has more than one position data item selecting a target position
(target position file) according to workpiece No. and operation path step No. specified by
palletizing operation conditional file and I variable for workpiece No. on pallet designation.
The workpiece numbers on the pallet are serial numbers provided for all assembly work
pieces from the first step. The path step numbers are serial numbers of operation path
positions when one workpiece is loaded.
8;
F o r a s y s te m w ith e x te r n a l a x e s , th e e x te r n a l a x is p o s itio n d a ta a re fix e d .
( E x te rn a l a x is
p o s itio n d a ta a t p a lle t iz in g a re fix e d .)
As shown in Fig. 3.1, palletizing operation sequence is set in the job.
the contents of I variable, position data are selected for operation.
PMOVJ
1 PM$01 100..
PMOVL 2 PM$01 100..
PMOVL
Then by changing
1
3 PM$01 100..
HAND! OFF
TIMER 1.00
PMOVL
1 PM$91 100..
— 46 —
Fig. 3.1
Typical Job Settings
I
(2) Operation
The following operation can be used for handling or general-purpose applications,
(a) Setting of palletizing operation conditional file
- (Operation or Operator’s Panel) -
ll
DISP
(Description)
File
[Cond. Fiii|
CFU
CEO
Depress these keys.
The following display will appear.
E D IT
o
TEACH MODE
ACTV-JOB : * * * * * *
1990/04/17 12:00
EDIT-JOB :
L: * * * *
S:***
L • 0000
S • 000
SAMPLE
ON STOP
Palletizing COND.
Palletizing condition file (FILE No. : 1)
d i
Total number
of work
30
Step number
: 4 .............................................. (2)
DONE
Select coord
BASE-FR
DONE
Even Program
DONE
Make Palletizing
Pattern
(3)-
Odd
Program
Work num.
Work num.
(5) ■+ -
0.000
Shift Value X
0.000
Y
0.000
Y
0.000
Z
1000.000
Z
500.000
- Shift Value X
(mm)
■(4)
^Select edit item
I
Page
Page
t
Data chg
SEL. coord
Fig. 3.2
Palletizing Operation Conditional File Display
(1) T o ta l n u m b e r o f w o r k
T o ta l n u m b e r o f w o r k p ie c e lo a d in g o n p a lle t
( n u m b e r o f a ll w o r k p ie c e s )
— 47 —
Exit
Set the palletizing condi
tions.
The descriptions of num
ber (1 ) to (5) are shown on
the following page.
(2) S te p n u m b e r
N u m b e r o f p o s itio n d a ta ite m s r e q u ir e d fo r
o p e ra tio n
p a th
te a c h in g
p ie c e is lo a d e d .
when
one
w o rk
U p to 9 s te p s .
(3) O d d - n u m b e r s ta g e s , e v e n - n u m b e r s ta g e s
P ro g ra m :
[D O N E ] w h e n a ll w o r k p ie c e o p
e ra tio n p a th te a c h in g fo r lo a d in g
q u a n tity
in
each
o d d -n u m b e r
s ta g e ( firs t s ta g e ) o r e v e n - n u m b e r
( s e c o n d s ta g e ) is c o m p le te d .
W o r k n u m b e r : L o a d in g w o r k p ie c e
num ber
(u p to 2 5 5 ) in e a c h s ta g e is
s e t.
(4) S e le c t c o o r d in a te
T h e c o o r d in a te s e t w ith s h ift v a lu e is s p e c i
fie d .
R o b o t c o o r d in a te s y s te m
B a s e c o o r d in a te s y s te m
U s e r c o o r d in a te s y s te m ( 8 ty p e s )
(5) S h ift v a lu e
D if fe r e n c e in h e ig h t (X, Y , Z ) b e t w e e n o d d n u m b e r to
o d d -n u m b e r
s ta g e s
and
even-
n u m b e r to e v e n - n u m b e r s ta g e s is s e t w ith
th e d a ta o f a s p e c if ie d c o o r d in a te s y s te m .
E ach
w o r k p ie c e
o p e r a tio n
p a th
(p o s itio n
d a ta ) a t th e th ir d s ta g e a n d a fte r is c r e a te d
b y a d d in g th is d if fe r e n c e to th e in s tr u c te d
o p e r a tio n p a th a t th e f ir s t a n d s e c o n d o p
e r a tio n p a th s .
1. T o ta l n u m b e r o f s te p s (to ta l n u m b e r
o f w o r k a n d s te p n u m b e r ) is u p to
100.
2.
The
above
d a ta
s e ttin g
is
p e r
fo r m e d b y n u m e r ic a l v a lu e s e ttin g
except
fo r
c o o r d in a te
s e ttin g .
C o o r d in a te s e tt in g is p e r f o r m e d b y
s o ft k e y s .
S e ttin g p r o c e d u r e s a re
th e s a m e a s th e s ta n d a r d s e ttin g .
B
After
^
I
FS
setting
|
data,
depress
soft key.
The setteing data are checked and if
any fault has occurred, an error will be
displayed.
— 48 —
Disp chg
Position
PROG. MODE
Ers data
When the data are set nomally, these
soft keys are displayed.
MAKE POS.
Description of each soft key
: Displays current value at specified coordinate system.
Position
Disp chg
~|; Displays the palletizing operation conditional display (Fig. 3.2).
PROG. M O D E
Era data
m ake d o s
: Specifies the palletizing operation conditional teaching mode.
j; Initializes condition No. file which is displayed currently.
; Creates operation path data for as many workpieces as set in conditional file.
(b) Teaching of workpieces at first and second stages
After setting required items of the palletizing operation conditional file, depress
!PR°g.:J!l oDE] ke y
Then the teach pendant display becomes as shown below and the
I F3 I
teach mode of odd-number stage/even-num ber stage is entered.
Teach pendant display
-Operation path step No.
Displayed at non-teaching or soft limit exceeded
■Workpiece No. at specified stage
Number of stages
Operation conditional file No.
First, position file area of setting quantity (total number of work and step num
ber) is secured. If it cannot be secured, an error occurs.
When this mode is specified, it becomes possible to teach the first and second
stages.
Once the teach mode is entered, no data other than [shift value, select coordinate]
can be changed.
In the teach mode, it is possible to set only position data of operation path for
each workpiece. Setting such as speed, interpolation, etc. cannot be per
formed.
— 49 —
Position data teaching can be performed only in ' m o d i f y 1 mode.
IN S E R T j or
D E L E T E | is not possible.
• Each data No. can be changed by using jjFj and
keys.
When position creation is [not y e t], the number of stages is up to 2.
• [ * ] is displayed for steps in which position data are not instructed or for steps
of soft limit. When the instructed position and current position are different,
•
the step No. is displayed, blinking.
• At each teaching completion of the first and second steps, each of odd-number stage and even-number stage on the CRT display changes its teach mode
to [D O N E ].
(c) Operation path data automatic creation for workpieces at third stage and after
Where each teach mode of conditional file odd-number stage and even-number stage is
[DONE] , depress 1 MAKE -P0S■J key. The CRT display changes to position data creating
I__F5__1
display and operation path data for as many workpieces as set in the conditional file at the
third stage and after are created.
• Position creation is not performed unless the conditional file odd-number and
even-number stage teaching is completed.
• When the display is changed to the position creating display (Fig. 3.3) and
position data creation is completed normally, the former conditional file display
(Fig. 3.2) is returned and position data creation in the display is changed to
[DONE] display.
• If any alarm occurs during position data creation, position data creation is inter
rupted immediately at the alarm occurrence and the CRT display is changed to
the alarm display.
• When any of the created position data items exceeds the soft limit, an error
occurs and the position data creation continues.
TEACH MODE
ACTV-JOB: * * * * * * L : * * * *
S :* * *
1990/04/17 12:00
Pallet-pattern
EDIT-JOB:
S:000
SAMPLE L: 000
ON STOP
Making Palletizing Pattern
Pallet-File N o : 01
Remain Steps: 123
|
Position
Fig. 3.3
|
| D is p c h g
|
I p r O G .M O D E I
| Ers data
|
| M A KE POS. [
Palletizing Operation Conditional Position Creation Display
— 50 —
(d) Position correcting method
In addition to move instructions, next/back operation for palletizing operation instructions
(PMOVJ, PMOVL) can be performed by the teach pendant. However, position data cannot
be changed in modes other than the teach mode.
For correction of position data, select the number of stages, workpiece No. and step No.
by the teach pendant operation and depress m o d i f y | and R E C O R D | key after depressing
ip r o g
^
mode
key
tQ e n t e r t h e
p 0 S jtj0 n
d a ta
teaching mode.
When the position data display has [DONE] in the conditional file, operation path for all
workpieces can be corrected.
(e) Conditional file data change
• Change of quantity
Once the teach mode is entered and the position file area is secured, no more change
for [total number of work, step number and odd-number stages, even-number stages]
can be made.
• Change of shift value
It is necessary to perform position data creation process again if shift value is to be
changed after completion of position data creation. Only changing conditional data
file is not effective.
(3) Load/Save to Floppy Disk
(a) Palletizing operation conditional file
• Load
By loading a palletizing operation conditional file, all palletizing position dara items are
loaded at same time.
Since the data are over-written without conditions, do not fail to save palletizing op
eration conditional files of which position data creation has been already completed.
• Save
By saving a palletizing operation conditional file, all palletizing position data items are
saved at the same time.
Only conditional data are saved for files of which position data creation is [NOT
YET] , while conditional file and position data are saved for those for which position
data creation is completed.
(b) Job
• Load/save
Palletizing operation conditional files cannot be saved even if a job in which palletizing
move instructions (PMOVJ, PMOVL) are registered is saved by an independent job
(JBI).
Only when it is saved by a related job (JBR), palletizing operation conditional file can
be saved as conditional file data.
— 51 —
(4) Error/Alarm
In the palletizing function, the following errors or alarms may occur.
• Error
Code
1110
Corrective Action
Error Contents
D a ta s e ttin g d is a b le d .
C h a n g e th e s e t v a lu e s o a s to s e c u r e p o s itio n f ile a re a .
• Alarm
Code
Corrective Action
Alarm Contents
3560
P a lle tiz in g o p e ra tio n
c o n d itio n a l f ile fa u lt
R e g is te r a p a lle t iz in g o p e ra tio n c o n d itio n a l f ile a g a in fro m
f lo p p y d is k , e tc .
3570
P a lle tiz in g o p e ra tio n
in s tr u c tio n e x e c u tio n
fa u lt
A r r a n g e in s tr u c tio n e x e c u tio n c o n d itio n s .
— 52 —
I
3. 3 HANDLING DIAGNOSIS FUNCTION
(1)
Catch confirm timer function
(Description)
Depress
Depress
and
Depress
key.
DISP
I D iagnosis!
F4
soft key
key.
A PPLI • D G N
soft key.
If the hand needs to be more tightened,
set the required time.
(The initial value is “0.”)
• If the time is set at 0 ;
the catch check input is checked im
mediately after outputting the catch
instruction.
• If the time is set at other than 0 ;
the catch check input is checked
after a preset time after outputting the
catch instruction.
If th e tim e is d e s ig n a t e d b y th e h a n d c lo s e in s tr u c tio n (H A N D 1 O N T = 1 . 0 0 ) , th e c h e c k in
p u t is c h e c k e d a f te r th e tim e r e g is t e r e d in th e in s tru c tio n .
— 53 —
(2) Error check process by concurrent I/O ladder
User Alarm No.
A la rm 2 0 1 0
Description
Action
HAND1 C ATC H ERR O R :
C h e c k a g a in th e c a tc h in g fo r c e o f th e
O c c u r s if th e o n c e o u tp u t c a tc h c h e c k is
w o r k p ie c e .
c a n c e le d a f te r H A N D 1 C A T C H in s tru c tio n
R e a d ju s t th e H A N D 1 C A T C H C H E C K
is o u tp u t.
in s tru c tio n .
T h e w o r k p ie c e m a y h a v e fa lle n .
A la rm 2 0 2 0
HAND2 CATCH ERROR:
C h e c k a g a in th e c a tc h in g fo r c e o f th e
O c c u r s if th e o n c e o u tp u t c a tc h c h e c k is
w o r k p ie c e .
c a n c e le d a ft e r H A N D 2 C A T C H
R e a d ju s t th e H A N D 2 C A T C H C H E C K
in s tr u c tio n is o u tp u t.
in s tru c tio n .
T h e w o r k p ie c e m a y h a v e fa lle n .
A la rm 2 0 3 0
A ia r m 2 0 4 0
HAND1 C ATC H C H E C K ER R O R :
R e a d ju s t th e H A N D 1 c a tc h c h e c k .
O c c u r s if th e c a tc h c h e c k s ig n a l is n o t in
If th e c a tc h c h e c k s ig n a l is n o t to b e
p u t 3 s e c o n d s a fte r H A N D 1 C A T C H in
u s e d , s h o r t - c ir c u it in p u t te r m in a ls 6 T B -5
s tr u c tio n is o u tp u t.
a n d 0 V.
H AN D2 C ATC H C H E C K ERROR :
R e a d ju s t th e H A N D 2 C A T C H C H E C K in
O c c u r s if th e c a tc h c h e c k s ig n a l is n o t in
s tr u c tio n .
p u t 3 s e c o n d s a fte r H A N D 2 C A T C H in
If th e c a tc h c h e c k s ig n a l is n o t t o b e
s tr u c tio n is o u tp u t.
u s e d , s h o r t- c ir c u it in p u t t e r m in a ls 6 T B -7
a n d 0 V.
A la r m 2 0 5 0
HAND1 RELEASE C H E C K E R R O R :
R e a d ju s t th e H A N D 1 R E L E A S E C H E C K
O c c u r s if th e r e le a s e c h e c k s ig n a l is n o t
in s tru c tio n .
in p u t 3 s e c o n d s a f te r th e H A N D 1 R E
If th e r e le a s e c h e c k s ig n a l is n o t t o b e
L E A S E in s tr u c tio n is o u tp u t.
u s e d , s h o r t - c ir c u it in p u t t e r m in a ls 6 T B - 6
a n d 0 V.
A la rm 2 0 6 0
H A N D 2 RELEASE C H E C K E R R O R :
R e a d ju s t th e H A N D 2 R E L E A S E C H E C K
O c c u r s if th e r e le a s e c h e c k s ig n a l is n o t
in s tru c tio n .
in p u t 3 s e c o n d s a fte r th e H A N D 2 R E
If th e r e le a s e c h e c k s ig n a l is n o t to b e
L E A S E in s tr u c tio n is o u tp u t.
u s e d , s h o r t - c ir c u it in p u t t e r m in a ls 6 T B - 8
a n d 0 V.
— 54 —
I-
4. SEALING AND COATING
The sealing operation is described as an example.
4.1
(1 )
REGISTRATION AND FUNCTION FOR SEALING STRAT INSTRUCTION
f•o
Specify sealing start instruction by depressing
key.
<Teach Pendant Display)
f•o
o
G U N O N
X
X
(2)
Registration from operator’s panel
Without condition No.: G UNO N instruction
registration
With condition No. CALL instruction
registration
(CALL
G UNON X X )
*
V \A A A ^ V V V V V V \rv /
Job name
Depress
Insert
FI
Depress
Depress
ENTER
edit
key and
soft key.
I D e v ic e
GUNON
F1
I
.. .
soft key.
soft key and
key.
G UNO N instruction is registered.
— 55 —
(3) Sealing start instruction (GUNON) function
Turns on the sealing nozzle G UNON instruction (output relay #3047).
Turns on the W ORK START instruction (special output relay # 5050), waits for the WORK
START RESPONSE (special input relay # 4050), and executes the next instruction when
the work start response turns on.
The work start response relay is checked when the G UNON RESPONSE input signal
turns on. If the G UNO N RESPONSE signal is not to be used, short-circuit 6 TB - 8 and 0V
to keep the G UNO N RESPONSE on constantly.
4 .2
R E G IS T R A T IO N A N D F U N C T IO N F O R S E A L IN G E N D IN S T R U C T IO N
(1 ) Registration from teach pendant
Specify sealing end instruction by depressing
key.
f • 1
f ■1
|=>
G U N O F
X
X
W ith o u t c o n d itio n N o : G U N O F in s tru c tio n
C o n d itio n N o . (1 to 99)
W ith c o n d itio n N o : C A L L in s tru c tio n
re g is tr a tio n
(C A L L G U N O F X X )
Job nam e
(2)
Depress
Insert
Depress
Depress
e n te r
key and
soft key.
FI
I
E D IT
D e vice
F3
GUNOF
F2
soft key.
soft key and
I key.
G UNO F instruction is registered.
— 56 —
(3)
Sealing OFF instruction (GUNOF) function
Turns off the sealing nozzle G UNO N instruction (output relay #3047).
Turns on the WORK COMPLETE instruction (special output relay # 5051), waits for the
WORK COMPLETE RESPONSE (special input relay # 4051) and executes the next in
struction when the WORK START RESPONSE turns on.
The WORK COMPLETE RESPONSE relay turns on immediately after WORK C O M
PLETE instruction is output.
The GUNON instruction is controlled so that it self-holds when the WORK START in
struction turns on, and turns off when the WORK COMPLETE instruction turns on.
If the work is stopped before completion, the G UNO N instruction also turns off. If
the operation is restarted later, the G UNON instruction turns on from that position, to
allow the work to be continued. However, the work cannot be continued if the “WORK
ABORT PROCESS” specification in the diagnosis display is set to disconnect the work
(the initial setting is “KEEP”).
The work also can not be continued if job editing, job call, cursor operation, or back
operation is performed after work is stopped.
W O R K C O N T IN U A T IO N
W O R K S T A R T IN S T .
W O R K E N D IN S T .
D U R IN G S E Q U E N C E
P R O H IB IT S P E C IF IC A T IO N
t K ------------- II------------------------- © -
G U N O N S E C T IO N
S E L F -H O L D
S TE P C Y C L E
G U N O N S E C T IO N
W A IT IN G U N T IL
IN T R F . IS O F F
G U N O N C O N D IT IO N 1
(O P E R A T IO N C Y C L E )
S T E P -H O L D
' 1
TEACH M O D E
CHECK M ODE
(6 T B -7 )
IN J E C T IO N P R O H IB IT
O P E R A T IN G IN
N O R M A L SPEED
---- -------------------------------------------- II-------------® "
(M O D E )
G U N O N IN S T R U C T IO N
G U N O N R E S P O N S E (6TB -8)
-------H----------------------------------- h---------------------------------- o W O R K C O M P L E T E IN S T .
-o
— 57 —
W O R K START RESPO N SE
W O R K C O M P LE TE RESPONSE
(4)
Apply inching operation from the teach pendant
Operate as follows to check the applying amount from the teach pendant.
OUT 63 is re
served for the apply inching instruction.
(Description)
- < O p e r a tio n o n T e a c h P e n d a n t > -
Injection (GUNON) instruction turns on
C=l_-
+
O UTPUT
ON
when
and
OUTPUT
+
keys are
ON
depressed.
o
u
T
6
3
N
O
W hen
OUTPUT
and
+
O N
keys
a re r e le a s e d , th e in s tru c tio n tu rn s o ff.
4 .3
S E T T IN G A N D R E G IS T E R IN G A P P L Y IN G C O N D IT IO N S
When the applying conditions are to be controlled by the analog output (± 1 4 V ), check that
the EW02 PC board is mounted, and perform the following operation.
(1)
Setting and registration from the teach pendant
f•2
Specify the analog condition output by using
f•2
=c>
A_ O_
T Ï
1
_U ________
Analog output
X
X
X
.
or
f•3
■=> AOUT AO
Output data (V):
# 1
key.
X .X X
instruction is registered.
Condition # 1
Set by using
f ■3
A
O
U
T
EE
2
Analog output
condition # 2
X
X
+
O N
X
^
Output data (V) :
Set by using
— 58 -
+
0 N
or
OFF
key.
AOUT AO # 2 X . X X
instruction registered.
or
_
OFF
key.
(2)
Depress
L
Insert
|
Depress
Depress
key and
E D IT
soft key
D e v ic e
I F3 |
AOUT
|F 4
|
soft key.
soft key.
AOUT instruction is registered
AOUT AO # 1 X . X X
Input by DATA (digit) key, and
depress
— 59 —
E N TE R
key.
4. 4 ANALOG OUTPUT FUNCTION CORRESPONDING TO SPEED
The sealing or painting operation is executed by a manipulator, the discharge must be
varied corresponding to manipulator operation speed to keep the application thickness,
such as sealing conpound.
If you use this function, however, the resetting of analog command value is not necessary
to correspond to manipulator operation speed when the discharge is controlled by analog
command value from manipulator. Drastically reduces programming time.
4 . 4 . 1 Description of Function
Fig. 4.1 shows analog output voltage character at this function execution.
ANALOG O U TPO T
V O L T A G E (V )
Fig. 4.1 Analog Voltage Character when using Analog
Output Function Corresponding to Speed
To use this function, the data, offset voltage, basic speed and analog output voltage, should
be set in advance.
• Offset voltage : Analog voltage when the manipulator speed is "0”.
• Basic speed : Basic speed for manipulator when outputting set-voltage.
• Set-voltage : Outputting voltage at basic speed.
1. If a n a lo g o u tp u t v o lta g e c o r r e s p o n d in g to s p e e d e x c e e d s ± 1 4 . 0 0 V , it
is r e s t r ic t e d w it h in ± 1 4 . 0 0 V .
2. In th e a n a lo g o u tp u t fu n c tio n c o r r e s p o n d in g to s p e e d , lin e a r s p e e d in m o tio n is c a lc u
la te d in a c c o r d a n c e w ith c o n tro l p o in t m o v in g a m o u n t.
T h e r e fo r e , w h e n th e m a n ip u la to r
o p e r a te s a t a h ig h s p e e d , lin e a r s p e e d is n o t s ta b le e v e n in th e c o n s ta n t s p e e d a re a .
T o m a k e a n a lo g o u tp u t s ta b le in th e c o n s ta n t s p e e d a re a , w h e n th is fu n c tio n is u s e d , th e
s p e e d c o n tro l m e th o d c a n b e c h a n g e d b y s e ttin g th e fo llo w in g p a r a m e te r .
P a r a m e te r S C 2 8 9 : A c c e l/ d e c e l p r o c e s s d e s ig n a tio n fo r e a c h fu n c tio n
0 : S ta n d a rd
1 : O th e r th a n s ta n d a r d
U s e th is fu n c tio n a fte r c h a n g in g th e a b o v e S C 2 8 9 s e ttin g t o “ 1 ” .
— 60 —
4. 4. 2
Instruction
Analog output corresponding to speed should be added to the basic speed in AOUT com
mand.
<Format>
A O U T (Analog output (Analog voltage) [Basic speed]
terminal No.)
(Example)
AOUT A O # 1 10. 0 0 [V = 2 0 0 . 0]
If th e b a s ic s p e e d is o m itte d , a n a lo g o u tp u t is c o n s ta n t.
<Setting method)
--------< Operation on Operator’s Panel >-
H
description)
S et output te rm inal and output vo ltag e of
AOUT
co m m an d
by using
conventional
m ethod.
After setting
STND. SPD
output voltage,
soft key.
F3
Then, input the basic speed.
T h e r e g is tr a tio n a n d a lte r a tio n o f b a s ic s p e e d c a n n o t b e e x e c u te d on
te a c h p e n d a n t.
— 61 —
depress
4 . 4 . 3 Offset Voltage Setting
Set offset voltage on analog output display for diagnostic display.
(Setting method)
(Description)
-< Operation on Operator’s Panel >Depress
O
I
d is p
1
key.
D IS P
Depress
Depress
D iagnosis
soft key.
1~F4~
key four times.
ANA LO G O U T
Depress — j=p^=j------ soft key.
This display will appear.
ANALOG O U TPU T
O U T PO RT
AOUTl
AOUT2
AOUT3
A OUT4
O U T VOL. (V)
-1 0 .0 0
- 1 4 .0 0
-1 0 .0 0
-1 4 .0 0
REF. VO L. (V)
0.0 0
0.00
0.00
0.00
SPD R A T IO
SP D R A T IO
FIX E D
SPD R A T IO
CONTROL
O F F S E T V O L (V )
ST N D SPD
AP P L I D G N
0 .0 0
0.00
0.00
0.00
1200.0
1500.0
* * *
1500.0
ACTU A L SPD
1O O . O l m m / s )
ANALOG OUT
— 62 —
description)
(Operation on Operator’s Panel)
Depress
1
e d it
1
key on this display.
Set the cursor to offset voltage data to
be altered.
Depress
Pp ^ j g
soft key.
The offset voltage will be altered.
N i l FI l i r a II F3» F4
F5
>
4 .4 .4 Description of Operation
(1 ) Output character at each polarity
The polarity of each output terminal (AO # 1 to AO # 4) can be set by WE parameter
setting. For the parameter, see Table 4 .1 .
Table 4.1
Parameter
WE Parameter
Output Terminal
WEOO
AO# 1
W E 01
AO # 2
W E02
AO# 3
W E 03
AO # 4
Contents of data
0 : B ip o la r
1 : P o s itiv e
2 : N e g a tiv e
— 63 —
Figs. 4. 2 to 4. 4 show the output character for each porarity when job of example is ex
ecuted at offset voltage setting — 10V.
(Example 1)
Output Voltage (V)
Jobs
Bipolar
Negative
Positive
M O V J VJ = 50.0
A O U T AO # 17.00 V = 150.0
M O V L V = 50.0
7.00
-7 .0 0
7 .0 0
-4 .3 3
-4 .3 3
4 .3 3
M OVC V = 100.0
1 .3 3
-1 .3 3
1.3 3
M O V C V = 100.0
1.3 3
-1 .3 3
1 .3 3
M OVC V = 100.0
1 .3 3
-1 .3 3
1.3 3
M OVC V = 200.0
1 2 .6 7
-1 2 .6 7
1 2 .6 7
A N A L O G V O L T A G E (V)
M A N IP U L A T O R S P E E D (m m /s )
Fig. 4.3
— 64
Negative Character
(2 ) Conditions of execution, interruption, and continuous operation for analog output func
tion corresponding to speed
(a)
Execution condition
After executing AOUT command with basic speed, this function is executed during arc
interpolation (MOVC) or linear interpolation (MOVL) operation.
This function is executed in playback operation and next operation; it is not ex
ecuted in jog operation.
(b )
Interruption condition
Interrupted Output Terminal
Interruption Condition
A fte r
th e
m a n ip u la to r
is
s to p p e d ,
e d it
A ll o u tp u t te r m in a ls a re in te r r u p te d , a n a lo g v o lta g e p r e c e e d -
o p e r a tio n is e x e c u te d .
in g in te r r u p tio n is o u tp u t c o n s ta n tly in e a c h o u tp u t te rm in a l.
A O U T c o m m a n d w ith o u t b a s ic s p e e d is
O n ly o u tp u t te r m in a l s e t b y A O U T c o m m a n d is in te r r u p te d ,
e x e c u te d .
and
a n a lo g
v o lta g e
set by A O U T
com m and
s ta n tly .
[S ||3
W h e n c o n d itio n s o th e r th a n th e c o n d itio n s a b o v e e x is t, a n a lo g o u tp u t
fu n c tio n c o r r e s p o n d e n c e to s p e e d is c o n tin u e d .
— 65 —
is o u tp u t c o n
(3)
Relationship between manipulator speed including accel/decel speed and analog out
put value
(Example 2)
MOVL
AOUT
M O VC
MOVC
MO VC
MOVL
MOVL
AOUT
Offset voltage is set at — 2V.
V = 200.0 ....................... ©
A O # 1 10.00 V = 200.0
V = 150.0 ....................... (2)
V R = 20.0 ......................(D (at control speed 100mm/s)
V = 150.0 .......................®
V = 180.0 ....................... (D
....................... (D (at control speed 180mm/s)
A O # 1 10.0 ...................©
Fig. 4 .5 shows variation of analog voltage correspondence to accel/decel speed when jobs
in example 2 are executed.
A NALO G VO LTAG E
SPEED
SPEED
(m m /s)
10
8.8
200
©
©X
y
7
180
©
©
© TT
150
i
\
____ I
100
T IM E (t)
Fig. 4.5
Variation between Accel/decel Speed of
Manipulator and Analog Voltage
M a n ip u la to r s p e e d c o n ta in s a fe w e rr o r s d u e t o o u tp u t c o r r e s p o n d e n c e
t o o p e r a tin g s p e e d .
W h e n th e a ttitu d e a n g le is s p e c if ie d , th e o u tp u t
c o r r e s p o n d s t o a b s o lu te s p e e d o f c o n tro l p o in t a t th a t tim e .
— 66 —
4.5
key
Contents
D
1-0
R e g is tr a tio n o f G U N O N o r C A L L G U N O N X X in s tru c tio n
a
R e g is tr a tio n o f G U N O F o r C A L L G U N O F X X in s tru c tio n
( r e s e r v e d jo b n a m e )
f • 1
F o r a n a lo g c o n d itio n o u tp u t # 1 :
C3
f•2
R e g is tra tio n o f A O U T # 1
X X
in s tru c tio n
(d a ta )
F o r a n a lo g c o n d itio n o u tp u t
f
•3
#
:
2
R e g is tra tio n o f A O U T # 2 X X
in s tru c tio n
(d a ta )
In s tru c tio n o f c o a tin g in c h in g (O U T 6 3 )
OUTPUT
w h ile
O U TPU T a n d
^
K e ys a re d e p r e s s e d , th e r e la y ( G U N O N in s t.) w h ic h is s e t in
p a r a m e te r S C 2 2 0 is tu r n e d on.
4.6 SEALING DIAGNOSIS FUNCTION
(1 ) Setting the “WORK ABORT PROCESS” specification
If the sealing work (while the G UNON instruction is on) is stopped before completion, the
G UNO N instruction also turns off.
Specify whether to continue the G UNON instruction upon restart, as follows.
(Description)
Depress
Depress
r t i j If I
d is p
F4
D iag no sis
key
soft key.
| soft key is not
displayed, depress I t> I key.
Depress ÂPP^ - p
soft key.
The initial setting in the sealing applica
tion is “KEEP”, so the work is continued
when restarted after stopping.
Set “RELEASE” by the
S e t d ata
F 1
soft
key in this display, if the work is not to
be continued.
— 68 —
I
(2) Error check process by concurrent I/O ladder
Contents
User Alarm No.
A la rm 2 0 1 0
Action
A P P L Y IN G E R R O R :
D e te r m in e th e re a s o n fo r th e e rro r, a n d
T h is a la rm o c c u r s w h e n th e a p p ly in g e rr o r
r e m o v e th e c a u s e .
in p u t s ig n a l tu rn s on.
A la rm 2 0 2 0
4 .7
G U N O N RESPONSE ERROR:
D e te r m in e w h y th e G U N O N R E S P O N S E
T h is a la rm o c c u r s if th e G U N O N R E
s ig n a l d o e s n o t tu rn on.
S P O N S E in p u t s ig n a l d o e s n o t tu rn on 3 .0
If th e G U N O N s ig n a l is n o t to b e u s e d ,
s e c o n d s a fte r th e G U N O N in s tru c tio n
s h o r t- c ir c u it 6 T B - 8 a n d 0 V, t o k e e p th e
tu rn s on.
s ig n a l a lw a y s on.
P A IN T IN G R E C IP R O C A T E F U N C T IO N
This function is used for easy operation of teaching of simple painting work such as net
painting.
In this function, painting reciprocate conditions (amplitude, speed, etc.) are registered in
the reciprocate conditional files (16 sheets) and reciprocate is performed by automatic
creation of operation data according to the specified reciprocate conditional file contents at
execution of reciprocate instruction (RMOV).
(1) Instructions
Reciprocate instructions
RMOV
R C P #01
RF
^----------- Reciprocate execution coordinate designation
--------------------------Reciprocate conditional file No. designation
---------------------------------------- Reciprocate instruction
This instruction repeats incremental value moves, calculating incremental value accord
ing to the data file contents, without having any position data. (Same motion as I MOV re
peat)
• Reciprocate execution coordinate designation
Specifies in which coordinate system the reciprocate conditional file is executed.
Base, robot, tool or user coordinate (1 to 8 ) can be selected.
• Reciprocate conditional file No. designation
Conditional file No. to execute the RMOV instruction is specified
— 69 —
(1
to 16).
I
(2) Contents of reciprocate conditional file
Reciprocate Cond.
Reciprocating Condition File (FILE NO. : 16)
Pattern
Rect.
Recipro times
Amp-direction
X
Pitch-direction
15
Y
Full Amplitude
500.000mm
Full Amplitude
300.000mm
Speed
900cm/min
Speed
9000cm/min
Start timing
Ampli.
End timing
Ampli.
Times of paint
3
Painting Pause
Use
GUN Orient
Use
Speed (VR)
180.0deg/sec
[
Page l
|
|
Page 1
Pause distance
|
Fig. 4.6
|
PL-F unction
Recipro
I
l
I
10.000mm
Non use
I
Weaving
I
Reciprocate Conditional File
(a) Description of data
• Motion pattern
Rectangular or triangular can be selected for reciprocate motion form.
• Amplitude/pitch
Direction, moving amount and moving speed can set independently.
• Starting/ending direction designation
Condition for phase matching when reciprocate motions with different condions are per
formed continuously are specified.
As described below, when amplitude is to be changed during reciprocate, set each
condition in the conditional file and register the reciprocate instruction.
[Example]
RMOV R C P #01 TL
RMOV R C P # 0 2 TL
Reciprocate conditional file 1
Start timing : Ampli.
End tim ing: Ampli.
Reciprocate conditional file 2
Start timing : Pitch
End tim ing: Ampli.
CONDITIONAL FILE #01
CONDITIONAL FILE# 0 2
— 70 —
• Times of paint
Sets how many times motions in the amplitude direction are repeated when a rectangu
lar wave is specified. For example, when 3 is specified, painting in rectangular wave
form as shown in the following diagram is performed three times in the amplitude direc
tion before pitching motion starts.
• Painting Pause
Sets when paint is to be cut off at both ends while moving in the amplitude direction
during reciprocate execution.
When "Use” is specified : G UNO FF status is entered in the section where both ends
while moving in the amplitude direction and the pitching motion section.
When “Non use” is specified: G UNO FF status is entered in the pitching motion section
without any conditions.
• Gun Orient
When “Non use” is specified, gun position at reciprocate starting point is held.
When "Use” is specified, outward amplitude motion position is instructed in reference
point No. 5 (REFP5) and homeward amplitude motion position is instructed in reference
point No. 6 (REFP 6 ). Gun can be changed during pitching motion.
• PL-Function
O (none) to 4 (sets) or “Non use” can be specified.
When “Non use” is specified, the same motion as normal move instruction [CONT] is
performed.
RECTANGULAR
PITCH
III
Í ii
i i'
iii
ill
AMPLITUDE
¡Ü
iii
lit
1.1
iii
iii
iii
iii
iii
iii
TRIANGULAR
AMPLITUDE
I---------------\
PITCH 1
— 71 —
PAINTING 3 TIMES
I
[Limit conditions at reciprocate in triangular waveform]
The following is the limit conditions for triangular waveform setting :
• Position change control is not performed (disregarding file conditions).
• Recoating is not possible (disregarding file conditions).
• Amplitude direction is applied for moving speed.
• Start/end motion direction is not specified (disregarding file conditions).
(3) Outline of Operation
Reciprocate instruction can check each position and motion by using the teach pendant
1and F W D
keys as well as normal moving instructions.
bw d
N O T E S : 1. S in c e th is in s tru c tio n d o e s n o t h a v e a n y p o s itio n d a ta , n o p o s itio n c a n b e c o r r e c te d .
2. T h is in s tru c tio n c a n b e u s e d t o g e th e r w ith T C P o r P M T fu n c tio n .
H o w e v e r, s p e e d
o v e r r id e o r s p e e d c o r r e c tio n b y u s in g T R T fu n c tio n is n o t p o s s ib le .
(4) Error/Alarm
The following alarms may occur in the reciprocate function :
Code
Alarm Contents
Corrective Action
3550
R e c ip r o c a te c o n d itio n a l
f ile fa u lt
S e t th e r e c ip r o c a te c o n d itio n a l f ile a g a in .
3580
R e c ip r o c a te in s tru c tio n
e x e c u tio n fa u lt
A r r a n g e th e in s tru c tio n e x e c u tio n c o n d itio n s .
— 72 —
5. LASER CUTTING
5.1
(1)
REGISTRATION AND FUNCTION FOR LASER ON INSTRUCTION
Specify cutting start instruction by depressing
<• o
key.
<Teach Pendant Display)
f•0
o
L A S E R O N
Without condition No:
LASERON instruction registration
L S R O N
With condition No:
CALL instruction registration
X
X
(CALL LSRON X X )
Job name
(2)
Depress
depress
_
Depress
Depress
E N TE R
key and
edit
Insert
I D e v ic e
i-jry-i
soft key.
I
LASERO N
.. .
soft key.
soft key and
key.
LASERON instruction is registered.
— 73 —
(3) Laser ON instruction (LASERON) function
Turns on the LASERON instruction (output relay #3087).
Turns on the WORK START instruction (special output relay #5050), waits for the WORK
START RESPONSE (special input relay (# 4 0 5 0 ), and executes the next instruction when
the WORK START RESPONSE turns on.
The work start response relay is checked when the LASERON RESPONSE input sig
nal turns on. If the LASERON RESPONSE signal is not to be used, short-circuit 6 TB - 8
and 0V, to keep the laser “on” response on constantly.
5. 2
(1)
R E G IS T R A T IO N A N D F U N C T IO N F O R L A S E R O F F IN S T R U C T IO N
Specify laser off instruction by depressing
f•1
key.
(Teach Pendant Display)
f•1
Without condition No:
LASEROF instruction registration
L A S E R O F
L S R O F
X
X
With condition No:
CALL instruction registration
(CALL L S R O F X X )
Job name
(2)
----------(Operation on Operator’s Panel)-----------------s
EDIT.
and
Depress
Insert
E D IT
key and
FI
depress
Depress
Depress
ENTER
Insert
F1
D e v ic e
F3
iL A S E R O Fl
IT D
soft key.
soft key.
soft key and
key.
LASEROF instruction is registered.
— 74 —
(3) Laser OFF instruction (LASEROF) function
Turns off the LASEROF instruction (output relay # 30 8 7 ) of the laser power source.
Turns on WORK COMPLETE instruction (special output relay # 5051), waits for the
WORK COMPLETE RESPONSE (special input relay # 4 0 5 1 ), and executes the next in
struction when the WORK START RESPONSE turns on.
The WORK COMPLETE RESPONSE relay turns on immediately after the WORK
COMPLETE instruction is output.
The LASERON instruction is controlled so that it self-holds when the WORK START in
struction turns on, and turns off when the WORK COMPLETE instruction turns on.
If the work is stopped before completion, the LASERON instruction also turns off. If
the operation is restarted later, the LASERON instruction turns on from that position, to
allow the work to be continued. However, the work cannot be continued if the “W O RK
ING ABORT PROCESS” specification in the diagnosis display is set to “RELEASE” (the
initial setting is “KEEP”).
The work also can not be continued if job editing, job call, cursor operation, or back
operation is performed after work is stopped.
W O R K E N D IN S T .
D U R IN G S E Q U E N C E
W O R K C O N T IN U A T IO N
P R O H IB IT S P E C IF IC A T IO N
tW----------------------1 !--------------------- -------------------- ® -
L A S E R O N S E C T IO N
S E L F -H O L D
1'
STEP C Y C LE
L A S E R O N S E C T IO N
W A IT IN G U N T IL
IN T R F . IS O F F
L A S E R O N C O N D IT IO N 1
- t f -
(O P E R A T IO N C Y C L E )
S T E P -H O L D
11
TEACH M O D E
CHECK M ODE
LASERON
P R O H IB IT (6 T B -7 )
O P E R A T IN G IN
N O R M A L SPEED
------- ------------------------------------------------------------------------- II--------------------- ©~
(M O D E )
LA S E R O N C O N D IT IO N 2
-&
L A S E R O N IN S T R U C T IO N
o
W O R K START R ESPO N SE
o
W O RK C O M P LE TE RESPONSE
L A S E R O N R E S P O N S E (6TB -8)
W O R K C O M P L E T E IN S T.
— 75 —
5. 3 SETTING AND REGISTERING LASER CUTTING CONDITIONS
When the cutting conditions are to be controlled by the analog output ( ± 1 4 V), check that
the EW02 PC board is mounted, and perform the following operation.
(1)
Setting and registration from the teach pendant
Specify the analog condition output by using the
f •2
f • 3
A O u T Ï
1
X
Output data (V) :
condition
0 . .
Set by using
A O u T Ï
2
Analog output
condition # 2
X
+
0 N
X X
76
key.
_
or
=>
Output data (V) :
_ t ,
+
Set by using O N
—
f • 3
AOUT AO # 1 X . X X
X X
Analog output
# 1
or
f ■2
—
O FF
key.
AOUT AO # 2 X . X X
_
or
O FF
key.
(2)
Registration from operator's pane!
Depress
Depress
Depress
E D IT
D e v ic e
r-^-i
AOUT
F4
key.
soft key.
soft key, and depress
key.
E N TE R
AOUT A O # 1 X. XX instruction is registered.
Input by DATA (digit) keys.
5 .4
L IS T O F O P E R A T IO N O N T E A C H P E N D A N T
key
Contents
R e g is tr a tio n o f L A S E R O N o r C A L L L S R O N X X in s tru c tio n
i-o
R e g is tr a tio n o f L A S E R O F o r C A L L L S R O F X X in s tru c tio n
f • 1
f •2
R e g is tr a tio n o f A O U T # 1
X X
in s tru c tio n
(d a ta )
f •3
R e g is tr a tio n o f A O U T # 2 X X
in s tru c tio n
(d a ta )
— 77 —
5. 5
LASER CUTTING DIAGNOSIS FUNCTION
If th e c u tt in g w o r k ( w h ile t h e L A S E R O N
in s t r u c t io n is on) is s t o p p e d b e f o r e c o m p le t io n , th e
L A S E R O N in s t r u c t io n a l s o t u r e n s off.
S p e c i f y w h e t h e r to c o n t in u e th e L A S E R O N in s tru c t io n u p o n re sta rt, a s fo llo w s .
( D e s c r i p t io n )
DISP
D e p re ss
key.
¡Diagnosis]
D e p re ss
F4
so ft k e y .
APPLI.DGN
D e p re ss
so ft k e y .
F1
If
A P P L I-D G N
s o ft
key
d i s p la y e d , d e p r e s s
is
not
key.
T h e initial s e t t in g in th e la s e r c u tt in g a p
p lic a t io n is “K E E P ”, s o t h e w o r k is c o n
t in u e d w h e n r e s t a r t e d a fte r s t o p p in g .
Set
“R E L E A S E "
by
th e
Set data I
F1
so ft k e y in t h is d is p la y , if th e w o r k is n o t
t o b e c o n t in u e d .
— 78 —
(2)
Alarm 2020
Alarm 2030
Action
Contents
User Alarm No.
LASERON RESPONSE ERROR:
Determine why the LASERON RESPONSE
This alarm occurs if the LASERON RE
signal does not turn on.
SPONSE input signal does not turn on 3.0
If the LASERON signal is not to be used,
seconds after the LASERON instruction
short-circuit 6TB-8 and 0 V, to keep the
turns on.
signal always on.
NOZZLE SHORT-CIRCUIT:
Correct the teaching so that the nozzle
This alarm occurs when the nozzle
does not touch the workpiece.
touches the workpiece to turn on the noz
teaching has no problem, determine why
zle short-circuit input signal.
the workpiece and the nozzle touched
If the
each other, and remove the cause.
Alarm 2050
LASER ERROR:
Determine why the laser error occurred,
Indicates that the laser power source has
and remove the cause.
failed.
This alarm occurs when the laser
error input signal turns on.
— 79 —
6
PLASMA CUTTING
6.1
REGISTRATION AND FUNCTION FOR ARC ON (ARCON) INSTRUCTION
1'
R e g is t r a t io n fro m t e a c h p e n d a n t
S p e c i f y p l a s m a sta rt in s t ru c t io n b y d e p r e s s i n g
f•o
key.
(T e a c h P e n d a n t D is p la y )
A R
f•o
C () N I X x I
I
W it h o u t c o n d it io n N o : A R C O N in s tru c t io n
I
r e g is t r a t io n
C o n d it io n N o . (1 to 99 )
W ith c o n d it io n N o : C A L L in s tru c t io n
(c a l l A R C o r o o q
Job nam e
(2)
R e g is t r a t io n fro m o p e r a t o r ’s p a n e l
- < Operation on Operator’s Panel > -
D
%
Insert
D e p re ss
F1
Insert
B
D e p re ss
m
D e p re ss
ARCO F
and
AOUT
key and
so ft k e y .
F 1
ARCON
EDIT
Device
F3
ARCON
ENTER
F1
so ft k e y .
so ft k e y
key.
A R C O N in s t r u c t io n is r e g is t e r e d .
<
Fl_I F2 H F3 H F4 || F5 || >|
pk
80 -
A r c " O N ” in s tru c t io n ( A R C O N ) fu n c t io n
3)
T u r n s o n th e P L A S M A A R C O N in s tru c t io n (o u tp u t r e la y # 3 0 8 7 ) .
T u r n s o n th e W O R K S T A R T in s tru c t io n (o u tp u t r e la y # 5 0 5 0 )
RESPO N SE
( s p e c ia l in p u t r e la y ( # 4 0 5 0 ), a n d
, w a it s fo r th e W O R K S T A R T
e x e c u t e s th e n e x t in s tru c t io n w h e n th e
W O R K S T A R T R E S P O N S E t u r n s on.
The W O R K ST A R T
s ig n a l t u rn s on.
RESPO N SE
If th e A R C O N
a n d 0 V, to k e e p th e A R C O N
6. 2
(1 1
r e la y is c h e c k e d w h e n th e A R C O N
RESPO N SE
in p u t
R E S P O N S E s ig n a l is not to b e u s e d , s h o r t - c ir c u it 6 T B - 8
R E S P O N S E o n c o n st a n t ly .
REGISTRATION OF ARC OFF (ARCOF) INSTRUCTION
f•1
S p e c i f y A R C O F in s tru c t io n b y d e p r e s s i n g
key.
f•i
A R C ()
F
W it h o u t c o n d it io n N o : A R C O F in s tru c t io n
X X
re g is t r a t io n
C o n d it io n N o . (1 to 99)
W it h c o n d it io n N o : C A L L in s tru c t io n
re g is t r a t io n
(C A L L A R C O F ^ O O
Job nam e
2------ R e g is t r a t io n fro m o p e r a t o r ’s p a n e l
-------- < Operation on Operator’s Panel > ----------------- ^
EDIT
D e p re ss
Insert
so ft k e y .
D e p re ss
m
j WON
D e p re ss
--------
—
ARCOF
AOUT
and
k e y and
Device
F3
I ARCOF I
enter
p ^ -j
so ft k e y .
so ft k e y
key.
A R C O F in s t ru c t io n is r e g is t e r e d
I <3 || F1
F2_
F3
F4
F5
ï>
81 -
I
(3)
A r c O F F in s tru c t io n ( A R C O F ) fu n c t io n
T u r n s off th e p l a s m a a r c “o n ” c o m m a n d (o u tp u t r e la y # 3 0 8 7 ) .
T u r n s o n th e W O R K
W ORK CO M PLETE
CO M PLETE
in s tru c t io n ( s p e c i a l o u tp u t r e la y # 5 0 5 1 ), w a it s fo r th e
R E S P O N S E ( s p e c ia l in p u t r e la y # 4 0 5 1 ), a n d e x e c u t e s th e n e x t in
s t ru c t io n w h e n th e W O R K S T A R T R E S P O N S E t u r n s on.
T h e W O R K C O M P L E T E R E S P O N S E r e la y t u r n s o n im m e d ia t e ly a fte r th e W O R K C O M
P L E T E in s t r u c t io n is output.
The A R C O N
in s t ru c t io n is c o n t r o lle d s o th a t it s e l f - h o l d s w h e n th e W O R K S T A R T in
s tru c tio n t u r n s on, a n d t u r n s off w h e n th e W O R K C O M P L E T E in s tru c t io n t u r n s on.
If t h e w o r k is s t o p p e d b e f o r e c o m p le t io n , t h e A R C O N
in s t r u c t io n a l s o t u r n s off.
If th e
o p e r a t io n is r e s t a r t e d later, th e A R C O N in s tru c t io n t u r n s o n fro m th a t p o s it io n , to a llo w th e
w o rk
to
be
c o n t in u e d .
H o w e ve r,
th e
w o rk
cannot
be
c o n t in u e d
if th e
“W O R K I N G
A B O R T P R O C E S S ” in th e d i a g n o s i s d i s p l a y is s e t to d i s c o n n e c t t h e w o r k (th e initial s e t
tin g is “K E E P ”).
T h e w o r k a l s o c a n n o t b e c o n t in u e d if jo b e d it in g , jo b call, c u r s o r o p e r a t io n , o r b a c k
o p e r a t io n is p e r f o r m e d a fte r w o r k is s t o p p e d .
WORK CONTINUATION
WORK START INST. WORK END INST. DURING SEQUENCE PROHIBIT SPECIFICATION
-M-------------------II------------------ if -------------- ® -
Hh
ARCON SECTION
SELF-HOLD
STEP CYCLE
ARCON SECTION
WAITING UNTIL
INTRF. IS OFF
ARCON CONDITION 1
(OPERATION CYCLE)
-M SELF-HOLD
11
TEACH MODE
CHECK MODE
ARCON PROHIBIT
(6TB-7)
OPERATING IN
NORMAL SPEED
------ ---------------------------------------------------------- 1|----------------- ® ARCON CONDITION 1
WORK START INST.
ARCON CONDITION 2
ARCON CONDITION 2
(MODE)
-<§>-
ARCON INSTRUCTION
o
WORK START RESPONSE
ARCON RESPONSE (6TB-8)
WORK COMPLETE INST.
WORK COMPLETE RESPONSE
— 82 —
6. 3
SETTING AND REGISTRERING THE PLASMA CUTTING CONDITIONS
W h e n th e in je c t io n c o n d it io n s a r e to b e c o n t r o lle d b y th e a n a l o g o u tp u t ( ± 1 4 V ) , c h e c k that
th e E W 0 2 P C b o a r d is m o u n t e d , a n d p e r fo r m th e f o llo w in g o p e ra tio n .
(1)
S e t t in g a n d r e g is t r a t io n fro m t h e t e a c h p e n d a n t
S p e c i f y th e a n a l o g c o n d it io n o u t p u t b y u s i n g th e
f•2
A O U T £ 1
X
X
>•2
or
c^> A O U T A O
X
f •3
#1
X.
key.
X X
in s t r u c t io n is r e g is t e r e d .
O u t p u t d a t a (V) :
A n a l o g o u tp u t
C o n d it io n # 1
f•3
A O U T Ï
S e t b y u s in g
2
X
+
ON
or
OFF
(=> A O U T
X X
key.
AO #
in s t ru c t io n
A n a l o g o u tp u t
C o n d it io n # 2
is
O u t p u t d a t a (V ):
S e t b y u s in g
+
O N
— 83 —
or
OFF
key.
2
X.
X X
(2) Registration from operator’s panel
-<Operation on Operator’s Panel>-
Insert
D
EDIT
EDIT
D e p re ss
FI
I
Insert
1
[T H
B
so ft k e y .
Device
D e p re ss
In / O u t
<3
F1
S eq u en ce
D evice
S h ift
F2
F3
F4
key and
soft key.
I F3 I
S am econd
F5
t>
ijA
I AOUT
D e p re ss
[-^¡-|
d e p re ss
ENTER
AOUT
AO #
1
1
so ft k e y , a n d
key.
X.
X X
in s t r u c t io n
f
In p u t b y D A T A (d ig it) k e y s .
6 .4
key
CD
Contents
Registration of ARCON or CALL AIRCONXX instruction
f•0
C
3
(reserved job name)
Registration of ARCOF or CALL ARCOFXX instruction
f•1
(reserved job name)
For analog condition output # 1 :
V
f
•2
Registration of AOUT #1 X X instruction
(data)
f•3
Registration of AOUT # 2 X X instruction
(data)
— 84 —
is
6 .5
(1)
PLASMA CUTTING DIAGNOSIS FUNCTION
S e t t in g th e w o r k c o n t in u a t io n s p e c if ic a t io n
If th e c u tt in g w o r k (w h ile th e A R C O N
ARCON
in s tru c t io n a l s o t u r n s off.
in s tru c t io n is o n) is s t o p p e d b e f o r e c o m p le t io n , th e
S p e c i f y w h e t h e r to c o n t in u e th e A R C O N
in s tru c t io n
u p o n re sta rt, a s fo llo w s.
d e s c r ip t io n )
D e p re ss
D e p re ss
D e p re ss
If
key.
d is p
I Diagnosis]
so ft k e y .
F4
APPLI. DGN
so ft k e y .
F1
A P P L I-D G N
s o ft
key
is
not
key.
T h e initial s e t t in g in t h e p l a s m a c u tt in g
a p p lic a t io n is “K E E P ”,
s o th e w o r k is
c o n t in u e d w h e n r e s t a r t e d a fte r s t o p p in g .
Set
“R E L E A S E ”
by
th e
Set data I
FI
so ft
k e y in t h e a b o v e d is p la y , if th e w o r k is
n o t to b e c o n t in u e d .
— 85 —
(2)
Contents
User Alarm No.
Alarm 2020
Alarm 2030
Action
ARCON RESPONSE ERROR :
Determine why the ARCON RESPONSE
This alarm occurs if the ARCON RE
If the ARCON signal is not to be used,
seconds after the ARCON instruction turns
on.
signal always on.
ARC SHORTAGE:
Determine the cause of arc shortage, and
This alarm occurs when the plasma arc
remove the cause.
becomes short during the cutting work.
Alarm 2050
PLASMA POWER ERROR:
Determine why the error signal turned on,
Indicates that the plasma cutting unit pow
er source has failed.
This alarm occurs
when the plasma arc error input signal
turns on.
7. MACHINING
7.1
(1 )
REGISTRATION AND FUNCTION FOR WORK START INSTRUCTION
S p e c i f y w o r k sta rt in s t ru c t io n b y d e p r e s s i n g
f•o
key.
f-o
T O O L O N X X
W it h o u t c o n d it io n N o . : T O O L O N in s t r u c
tio n r e g is t r a t io n
C o n d it io n N o . (1 to 9 9 )
W it h c o n d it io n N o . : C A L L in s tru c t io n
(C A L L T O O L O N X X )
Jo b nam e
(2)
< Operation on Operator’s Panel >---------
D e p re ss
[
Insert
I
FI
_
D e p re ss
D e p re ss
ENTER
e d it
k e y and
so ft k e y .
I Device I
j-^ -[
I TOOLON I
F1
.. .
so ft k e y .
so ft k e y a n d
key.
T O O L O N in s tru c t io n is r e g is t e r e d .
— 87 —
(3)
W o r k sta rt in s t ru c t io n ( T O O L O N ) fu n c t io n
T u r n s o n th e T O O L O N in s t ru c t io n (o u tp u t r e l a y # 3 0 4 7 ).
T u r n s o n th e T O O L O N
in s t ru c t io n ( s p e c i a l o u tp u t r e la y
# 5 0 5 0 ), w a it s fo r th e W O R K
S T A R T R E S P O N S E ( s p e c i a l in p u t r e la y # 4 0 5 0 ), a n d e x e c u t e s th e n e x t in s tru c t io n w h e n
th e W O R K S T A R T R E S P O N S E t u r n s on.
T h e W O R K S T A R T R E S P O N S E r e la y t u r n s o n im m e d ia t e ly a fte r th e W O R K S T A R T in
s tru c tio n is output.
7 .2
(1 )
REGISTRATION AND FUNCTION FOR WORK COMPLETE INSTRUCTION
f• 1
S p e c i f y w o r k c o m p le t e in s t ru c t io n b y d e p r e s s i n g
key.
f• 1
<=>
T O O L O F
W it h o u t c o n d it io n N o . : T O O L O F in s t r u c
X X
tio n r e g is t r a t io n
C o n d it io n N o . (1 to 9 9 )
W it h c o n d it io n N o . : C A L L in s tru c t io n
(C A L L T O O L O F
XX)
Jo b nam e
(2)
<Operation on Operator’s Panel)Insert
D e p re ss
Insert
e d it
I
rrri
. .
s o f t k e v-
D e p re ss
so ft k e y .
D e p re ss T O O L O F
T0BL0N
TOOLOF
AOUT
and
key and
ENTER
p ^ -|
s o ft k e y
key.
T O O L O F in s t r u c t io n is r e g is t e r e d .
\ < || F1 || F 2 j F3
F4
F5
>
— 88 —
(3)
W o r k c o m p le t e in s t r u c t io n ( T O O L O F ) fu n c t io n
T u r n s off t h e T O O L O N in s tru c t io n (o u tp u t r e la y # 3 0 4 7 ) .
T u r n s o n th e W O R K
W ORK CO M PLETE
CO M PLETE
in s tru c t io n ( s p e c i a l o u tp u t r e la y # 5 0 5 1 ), w a it s fo r th e
R E S P O N S E ( s p e c i a l in p u t r e la y # 4 0 5 0 ), a n d e x e c u t e s th e n e x t in
s tru c tio n w h e n th e W O R K S T A R T R E S P O N S E t u r n s on.
T h e w o rk C O M P L E T E
RESPO N SE
r e la y t u r n s o n im m e d ia t e ly a fte r th e W O R K C O M
P L E T E in s tru c t io n is o utput.
WORK START INST.
WORK COMPLETE INST.
WORK CONTINUATION PROHIBIT
SPECIFICATION
--------- ----------------------------------------------------------------------------- ® -
WORK INSTRUCTION
SELF-HOLD
WORK START INST.
TOOL ON RESPONSE
--- 1|--------- II-------------------------o
---------------------------------------- o
WORK START RESPONSE
WORK COMPLETE INST.
WORK INST.
OPERATING
------ 1|---------------------- II--------------------------------------------------------- o
DURING WORK
1. The work instruction is controlled so that it self-holds when the WORK START instruction
turns on, and turns off when the WORK COMPLETE instruction turns on.
If the work is stopped before completion, the work instruction also turns off.
The
work instruction does not turn off even when the manipulator stops, if the “WORKING
ABORT PROCESS” specification in the diagnosis display is set for “KEEP” .
2. When the “WORKING ABORT PROCESS" specification is set for “ RELEASE” , the work
instruction turns off when the manipulator stops, and does not turn on when the operation
is restarted.
If the work instruction must turn off when the manipulator stops, and turn
on when the manipulator restarts, specify the “WORKING ABORT PROCESS” for
"KEEP” , and change the output connection during work.
— 89 —
7 .3
Contents
key
Registration of TOOLON (work start) or CALL TOOLONXX instruction
CJ
f -0
(reserved job name)
Registration of TOOLOF (work complete) or CALL TOOLOFXX instruction
CD
f’ 1
------
(reserved job name)
For analog condition output #1 :
CD
f•2
Registration of AOUT#1 X X instruction
(data)
a
f •3
Registration of AOUT# 2 X X instruction
(data)
7. 4
(1)
MACHINING DIAGNOSIS FUNCTION
S e t t in g of w o r k c o n t in u a t io n s p e c if ic a t io n
T h e w o r k in s t r u c t io n c a n b e s p e c i f i e d to b e t u r n e d off w h e n th e o p e r a t io n (w h ile th e w o r k
in s t r u c t io n is o n ) is s t o p p e d b e f o r e c o m p le t io n .
L E A S E ” to tu rn off th e w o r k in stru c tio n .
— 90 —
S e t “ K E E P ” to k e e p th e sta te , a n d " R E
(Description)
D e p re ss
d is p
key
D e p re ss
' Dr ^ j s 's '
so ft k e y .
I APPLI DGN I
FEf=,------
D e p re ss
If
|
APPÜ-DGN
[
so ft k e y .
key
so ft
The
is
I > I
not
key.
initial s e t t in g in th e m a c h in in g a p
p lic a t io n is “R E L E A S E ”, s o w o r k in s t r u c
tio n
is t u r n e d
off if th e
m a n ip u la t o r is
s t o p p e d d u r in g w o r k in stru c tio n .
If th e
w o rk
______________
KEEP
d is p la y .
— 91 —
b y th e
is
to
be
I Set date I
c o n t in u e d ,
se t
..........................
so ft k e y in t h is
(2)
Alarm 2010
Action
Contents
User Alarm No.
MACHINING ERROR:
Determine why the error signal turns on,
This alarm occurs when the machining
error input signal turns on.
Alarm 2020
TOOLON RESPONSE ERROR:
Determine why the TOOLON RESPONSE
This alarm occurs if the TOOLON RE
If the TOOLON signal is not to be used,
seconds after the TOOLON instruction
turns on.
signal always on.
— 92 —
8. GENERAL-PURPOSE USE
A p p lic a t io n o th e r th a n th e p r e v i o u s a r c w e ld in g , s p o t w e ld in g , h a n d lin g , etc.
is o p e r a t e d
a s g e n e r a l a p p lic a t io n .
8.1
(1)
REGISTRATION AND FUNCTION FOR WORK START INSTRUCTION
S p e c i f y w o r k sta rt in s tru c t io n b y d e p r e s s i n g
f •o
key.
T O O L O N X
t •o
W it h o u t c o n d it io n N o :
X
T O O L O N in s t ru c t io n R e g is t r a t io n
C o n d it io n N o . (1 to 9 9 )
(C A L L T O O L O N X X )
Job nam e
(2)-R e g is t r a t io n fro m o p e r a t o r ’s p a n e l
----- < Operation on Operator’s Panel >------------
D e p re ss
Insert
_
D e p re ss
D e p re ss
TOOLON
e d it
k e y and
s o ft k e y .
I Device I
r -^ -i
I TOOLON I
.. .
so ft k e y .
so ft k e y .
AOUT
T00L0F
T O O L O N in s t r u c t io n is r e g is t e r e d .
<
F1 I F2
F3
F4
F5
>
— 93 —
(3) Work start instruction (TOOLON) function
Turns on the TOOLON instruction.
T u r n s o n th e T O O L O N
# 5 0 5 0 ), w a it s fo r th e W O R K
S T A R T R E S P O N S E ( s p e c i a l in p u t r e la y # 4 0 5 0 ) , a n d e x e c u t e s th e n e x t in s tru c t io n w h e n
th e W O R K S T A R T R E S P O N S E t u rn s on.
T h e W O R K S T A R T R E S P O N S E r e la y t u r n s o n im m e d ia t e ly a fte r th e W O R K S T A R T in
s tru c tio n is o utput.
8 .2
(1 )
REGISTRATION AND FUNCTION FOR WORK COMPLETE INSTRUCTION
t•1
S p e c i f y w o r k c o m p le t e in s tru c t io n b y d e p r e s s i n g
key.
f •1
T O 0
L O F
W it h o u t c o n d it io n N o : T O O L O F in s tru c t io n
X X
R e g is t r a t io n
C o n d it io n N o . (1 to 9 9 )
(C A L L T O O L O F X X )
Jo b nam e
(2)---- R e g is t r a t io n fro m o p e r a t o r ’s p a n e l
-------- < Operation on Operator’s Panel >----------
D e p re ss
|
Insert
|
FI
|
|
D e p re ss
EDIT
so ft k e y .
1 Device 1
1 F3 |
1TOOLOF 1
&
D e p re ss
TOOLON
AOUT
TOOLOF
F3
F4
ke y and
1 F2 1
so ft k e y .
so ft k e y .
T O O L O F in s tru c t io n is r e g is t e r e d .
F5
>
— 94 —
(3) WORK COMPLETE instruction (TOOLOF) function
Turns off the work instruction.
T urns
o n th e T O O L O F
CO M PLETE
R E S P O N S E ( s p e c i a l in p u t r e la y
# 5 0 5 1 ), w a it s fo r th e
W ORK
# 4 0 5 0 ), a n d e x e c u t e s th e n e x t in s tru c t io n
w h e n th e W O R K S T A R T R E S P O N S E t u r n s on.
T h e W O R K C O M P L E T E R E S P O N S E r e la y t u r n s o n im m e d ia t e ly a fte r th e W O R K C O M
P L E T E in s t ru c t io n is output.
T h e w o r k in s tru c t io n is c o n t r o lle d s o th a t it s e l f - h o l d s w h e n th e T O O L O N
in s tru c t io n
t u r n s on, a n d t u r n s off w h e n th e T O O L O F in s tru c t io n t u r n s on.
If th e w o r k is s t o p p e d b e f o r e c o m p le t io n , th e w o r k in s tru c t io n a l s o t u r n s off.
in s tru c t io n
does
n o t tu rn off e v e n
w h e n th e
m a n ip u la t o r s t o p s ,
T h e w o rk
if t h e “W O R K
ABORT
P R O C E S S ” s p e c if ic a t io n in th e d i a g n o s i s d i s p l a y is s e t fo r “K E E P ”.
W h e n th e “W O R K A B O R T P R O C E S S ” s p e c if ic a t io n is s e t fo r “R E L E A S E " , th e w o r k in
s tru c tio n t u r n s off w h e n th e m a n ip u la t o r s t o p s , a n d d o e s no t tu rn o n w h e n th e o p e r a t io n is
r e s t a rte d .
If th e w o r k in s tru c t io n m u s t tu rn off w h e n th e m a n ip u la t o r s t o p s , a n d tu rn on
w h e n t h e m a n ip u la t o r re sta rts, s p e c i f y th e “W O R K A B O R T
P R O C E S S ” fo r “K E E P ”, a n d
c h a n g e t h e o u t p u t c o n n e c t io n s o th a t th e w o r k in s tru c t io n o u tp u t is “K E E P ”.
The
w o rk
in s tru c t io n
is
not
s p e c ia lly
a s s ig n e d
in
th e
ge n e ra l
a p p lic a t io n
la d d e r.
T h e r e f o r e , w h e n th e o p e r a t io n is to b e c o n t r o lle d b y th e T O O L O N , T O O L O F in s tru c t io n s ,
c h a n g e th e o u tp u t c o n n e c t io n s o th a t t h e w o r k in s tru c t io n is o u tp u t to th e u s e d g e n e r a l
o u tp u t re la y .
WORK START INST.
WORK COMPLETE INST.
WORK CONTINUATION PROHIBIT
SPECIFICATION
WORK INSTRUCTION
SELF-HOLD
WORK START INST.
o
WORK START RESPONSE
o
o
OPERATING
WORK COMPLETE INST.
WORK INST.
OPERATING
— 95 —
8 .3
Contents
key
CD
Registration of TOOLON (work start) or CALL TO O LO NXX instruction
1-0
C3
(reserved job name)
Registration of TOOLOF (work end) or CALL TOOLOFXX instruction
f•1
(reserved job name)
CD
1 • 2
Registration of AOUT #1 X X instruction
(data)
f•3
Registration of AOUT # 2 X X instruction
(data)
— 96 —
8 .4
If th e
GENERAL-PURPOSE DIAGNOSIS FUNCTION
w o rk
(w h ile
th e
TO O LO N
in s tru c t io n
is
on)
is
sto p p e d
b e fo re
c o m p le t io n ,
th e
T O O L O N in s t ru c t io n a l s o t u r n s off.
S p e c i f y w h e t h e r to c o n t in u e th e T O O L O N in s tru c t io n u p o n resta rt, a s fo llo w s .
d e s c r ip t io n )
D e p re ss
DISP
_
iDiaanosisI
D e p re ss
— f ^ i
D e p re ss
If
key.
.. .
so ft k e y-
APPLI.DGN
F1
i a p p li-d g n
so ft k e y .
| s o ft
key
is
I > I
not
key.
T h e initial s e t t in g is “R E L E A S E " , s o th e
w o r k is c o n t in u e d w h e n
r e s t a r t e d a fte r
s t o p p in g .
S e t “ K E E P ” b y th e
Set data I so ft k e y
F1
in t h is d is p la y , if t h e w o r k is to b e c o n
tin u e d .
— 97 —
INSTRUCTIONS
MOTOMAN SERIES
O P E R A T O R ’S M A N U A L F O R
EACH
A P P L IC A T IO N
TO KYO OFFICE O htem achi Bldg. 1-6-1 O htem achi. C h iyoda -ku. Tokyo. 100 Japan
Phone (03) 3284-9111, -9145 Telex YASKAW A J33530 Fax (03) 3284-9034
SEOUL OFFICE Seoul C enter Bldg, 91-1, So K o n g -D o n g . C hung-ku. Seoul, Korea
Phone (02) 776-7844 Fax (02) 753-2639
TAIPEI OFFICE Union C o m m e rc ia l Bldg, 14F, 137, N a nking East Road, Sec 2, Taipei, Taiwan
Phone (02) 507-7065, -7732 Fax (02) 506-3837
YASKAWA ELECTRIC AMERICA. INC. : SUBSIDIARY
Chicago-Corporate Headquarters 2942 M acA rth ur Blvd N o rth b ro o k , Illinois 60062-2028, U.S.A
Phone (708) 291-2340 Fax (708) 498-2430
Chicago-Technical Center 3160 M acA rth ur B lvd N o rth b ro o k , Illin o is 60062-1917. U.S.A.
Phone (708) 291-0411 Fax (708) 291-1028
Los Angeles Office 7341 Lincoln Way, G arden G rove, C a lifo rn ia 92641, U S A
Phone (714) 894-5911 Telex (230) 678396 YASKAW AUS TSTN Fax (714) 894-3258
New Jersey Office 30 Two B rid ges Road, Fairfield, New Jersey 07006, U S A .
Phone (201) 575-5940 Fax (201) 575-5947
YASKAWA ELECTRIC EUROPE GmbH : SUBSIDIARY
N ie d e rh o c h s ta d te r S tr a fe 71-73, W 6242 K ro n b e rg -O b e rh o c h s ta d t, G erm any
Phone (06173) 640071, 640072, 640073 Telex 415660 YASE D Fax (06173) 68421
YASKAWA ELETRtCO DO BRASIL COMERCIO LTDA. . SUBSIDIARY
Av Bng Faria Lima, 1664-cj 721/724, Pinheiros, Säo Paulo-SP, Brasil CEP-01452
Phone (011) 813-3933. 813-3694 Telex (011) 82869 YSKW BR Fax (011) 815-8795
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
CPF Bldg, 79 R obinson Road N o 13-05. S ingap ore 0106
Phone 2217530 Telex (87) 24890 YASKAW A RS Fax (65) 224-5854
y
TOE-C945-161C
C Printed in Japan June 1992 89-60, 0.4RY<&'
ERC DEDICATED
I/O GUIDELINES
Part Number 479236-14
July 7, 1993
MOTOMAN
805LibertyLane
TEL 513-847-6200
FAX: 513-847-6277
24-HOUR SERVICEHOTLINE: 513-847-3200
Theinformationcontainedwithinthis documentis theproprietarypropertyofMotoman, Inc., and
maynotbe copied, reproducedortransmittedto otherparties withouttheexpressed written
authorizationofMotoman, Inc.
©1993by MOTOMAN
All Rights Reserved
Because we are constantlyimproving ourproducts, we reserve the right to change specifications without
notice. YASNAC and MOTOMANare registered trademarks of YASKAWA Electric Manufacturing.
TABLE OF CONTENTS
Section
Paae
1.0 INTRODUCTION............................................................................................... 1
1.1
GENERAL SPECIFICA TIONS.............................................................1
2.0
EMERGENCY STOP INPUT............................................................................ 3
3.0
EMERGENCY STOP OK OUTPUT................................................................... 4
4.0 SERVO POWER ON OUTPUT...........................................................................6
5.0
EXTERNAL HOLD INPUT................................................................................7
6.0
HOLDING OUTPUT.........................................................................................8
7.0
IN-GUARD SAFETY INPUT............................................................................ 9
1.0 INTRODUCTION
The Motoman ERC / K-series robots contain many dedicated inputs and outputs
located on the 1/003 board inside the ERC controller. The actual number and use of
some o f them can change based on how the robot is configured and its application.
These dedicated inputs and outputs are useful for controlling and interfacing the
robot to external equipment. This manual discusses and shows example electrical
connections for som e o f these dedicated inputs and outputs. Som e connection
points are located on terminal blocks, some on 50 pin Honda connectors and some
on both. Refer to the Motoman "ERC Controller I/O Structure" manual (479236-4)
for more information on inputs and outputs.
NOTE:
The 50 pin Honda connectors have both input and output connections. Most dedicated input
and output signals (EXTERNAL HOLD input or ARC START output) appear on the connector
CN01 (01C). The common "+24 VU" appears on pins 44 through 46 on each connector. The
common "0 VU" appears on Pins 47 through 49 on each Honda connector.
1.1
GENERAL SPECIFICATIONS
NOTE:
•
The ERC relay dry contact outputs are rated at 200 VAC /1 / 2 A or 48 VDC /
1/2 A.
•
The transistor outputs are rated at 24 VDC / 50mA (sinking).
•
The transistor inputs are rated at 24 VDC / 5mA (pull low to activate).
•
All transistor inputs and outputs must share a common DC ground connection
for proper operation.
•
Isolation must always be provided from high voltage and from high frequency
electrical noise/interference.
•
A ll changes made to the robot and/or system must be checked for proper
operation with the robot at slow speed.
TB designates a terminal block and CN designates a connector.
DANGER!
Improper wiring can cause severe personal injury or death and
damage to the equipment! Only trained personnel familiar with
the robot manuals electrical design and equipment
interconnections should be permitted to modify the system.
,
ERCDedicated I/O Guidelines
7/7/93
Pagel
MOTOMAN
479236-14
DANGER!
All parameter modifications and I/O modifications made to the
ERC controller will change the way the robot operates and can
cause severe personal injury or death, and damage to the robot.
This includes ERC parameters and NODES 1, 2 or 3. Recheck and
test all changes at slow speed.
o
WARNING!
Do not apply any voltage to the robot input connections! This
will damage the input module and cause serious and costly
damage to the I/O 03 board.
o
CAUTION!
Improper operation can damage equipment! Only trained
personnel familiar with the operation of this Motoman robot, the
operator manuals, the system equipment, options, and
accessories should be permitted to operate this robot system.
o
CAUTION!
Improper connections can damage the robot! Check all
connections for proper voltages and currents before making
connections
.
o
NOTICE
Back up all your programs and jobs on a floppy disk whenever
program changes are made. A backup must always be made before
any servicing or changes are made to options, accessories or
equipment to avoid loss of system information, programs and
jobs.
7/7/93
MOTOMAN
■ .479236-14
2.0 EMERGENCY STOP INPUT
The external emergency stop (E-STOP) input enables an external device such as a
normally closed E M E R G E N C Y ST O P button to put the ERC in an emergency
stop condition and turn the servo power OFF. When external emergency stop
devices are not connected to the ERC, these connection points must be connected
with a jumper wire.
There are two pairs o f connection points for the external emergency stop input; one
pair is located on Terminal Block 1TB (1TB-3 and 1TB-4), the other is located on
the Honda Connector CN01 (pins 42 and 43). Additional information about these
and other connection points can be found in the operator’s manual, operator’s
manual appendix, OP2 Key manual, and the maintenance manual.
Any number o f external
jum per wire between
emergency stop devices
CN01-42 and CN01-43
emergency stop devices can be connected to the ERC. The
1TB-3 and 1TB-4 must be removed and the external
must be hard-wired in series between 1TB-3 and 1TB-4 or
as shown in Figure 2-1.
CAUTION!
Check all safety equipment frequently for proper operation!
ERC-IO 03 BOARD
+24 VU
|
1TB-3
EXTERNAL ESTOP 1
EXTERNAL ESTOP 3
I EXESP1
r
------------ O------ ——Q__!_O----------
A
17B-4
I EXESP2
SW1-1
{ o o
EXTERNAL ESTOP
* ovu
Figure 2-1 External Emergency Stop Input Connection
NO TE:
Remove SW1-1 jumper if the Honda plug E-STOP connection (CN01-42 and CN01-43) is used.
7/7/93
Page3
M0T0MAN
- 479236-14
3.0 EMERGENCY STOP OK OUTPUT
The EMERGENCY STOP OK output is used to stop other equipment external to
the robot. It is a normally open relay contact on the 1/003 board inside the ERC.
The connection points for the emergency stop OK contact are 1TB-7 and 1TB-8.
The EMERGENCY STOP OK contact is closed when the ERC is not in E-STOP.
This contact is opened when any one of the following conditions occurs:
•
The EM E R G E N C Y ST O P button on the ERC front panel is pressed.
•
The E M ER G E N C Y ST O P button on the ERC teach pendant is pressed.
•
The connection between 1TB-3 and 1TB-4 is opened (external emergency
stop).
•
The connection between CN01-42 and CN01-43 is opened.
•
ERC power is turned OFF.
•
The tool mount shock sensor is impacted (optional).
The ERC emergency stop OK output signal is usually hard-wired in series with the
SERVO POWER ON output signal as shown in Figure 3-1.
CAUTION!
7/7/93
Page4
MOTOMAN
-.-479236-14
ERC-IO 03 BOARD
Figure 3-1 Emergency Stop OK Output Connection
(See NOTE under Figure 6-1 regarding a "flyback diode")
7/7/93
Page5
:
MOTOMAN
479236-14
4.0 SERVO POWER ON OUTPUT
The SERVO POWER ON output contact is used to signal external equipment that
the robot is ready. It is a normally open relay contact on the 1/003 board inside the
ERC. The connection points for the SERVO POWER ON contact are 1TB-5 and
1TB-6. The SERVO POWER ON contact is closed ONLY when servo power is
turned ON. This output is NOT the same as the E-STOP.
This contact is opened when any one of the following conditions occur:
•
The EM ER G EN C Y STOP button on the ERC front panel is pressed.
•
The EM ER G EN C Y STOP button on the ERC teach pendant is pressed.
•
The connection between 1TB-3 and 1TB-4 is opened (external emergency
stop).
•
The connection between CN01-42 and CN01-43 is opened.
•
ERC power is turned OFF.
•
The tool mount shock sensor is impacted (optional).
•
Servo power is OFF.
The emergency stop OK output signal and the SERVO POWER ON contacts are
usually hard-wired in series as shown in Figure 3-1.
CAUTION!
The SERVO POWER ON output must NOT be used as an E-STOP!
CAUTION!
7/7/93
Page6
MOTOMAN
- 479236-14
5.0 EXTERNAL HOLD INPUT
The external hold inputs enable external devices (switches, relays, etc.) to put the
ERC in a hold condition. There are two types on the ERC. One pair o f external
hold inputs (normally closed) are located at 5TB-7 and 5TB-8. The other single
external hold input (normally open) is located at 8TB-3. If no external hold devices
are connected to the ERC, 4TB-3 (+ 24 VDC) and 5TB-7 are connected with a
jumper wire. However, if an external hold device is connected to the ERC, the
jumper wire must be removed and the external hold device (normally closed) must
be hard-wired in series between 4TB-3 and 5TB-7 as shown in Figure 5-1.
o
WARNING!
The robot and other equipment can move unexpectedly which can
cause severe personal injury or death, and damage to the robotI
o
WARNING!
E-STOP the robot before entering the robot cell! Robot hold does
not remove servo power.
o
CAUTION!
The hold condition only stops the robot motion! It does NOT
remove servo power. Use E-STOP to cut servo power.
ERC-IO 03 BOARD
Figure 5-1 External HOLD Input Connection
NOTE:
The jumper connection from 4TB-5 (DC common) to 5TB-8 must NOT be changed.
7/7/93
M0T0MAN
479236-14
6.0 HOLDING OUTPUT
The hold output is used to signal external equipment that the robot is in hold mode.
This output is turned ON when any of the following condition occur:
NOTE:
•
The ERC HOLD button is pushed momentarily.
•
The robot is in hold mode due to an alarm occurrence.
•
The robot is in hold mode due to external hold.
Releasing the conditions listed above turns the hold output OFF.
Figure 6-1 shows an example o f connecting the hold output to an external device.
IO 03 BOARD
Figure 6-1 Hold Output Connection
NOTE:
A “flyback diode" must be placed across the DC load (DC relay coil, for example) that is driven
by an output sinking transistor. The sinking transistor can easily be damaged by DC relay high
voltage transients caused by inductive relay coils (see Figure 4). Damage to a transistor will
cause the loss of the entire block of output transistors and require expensive repair. See
Figure 4 for proper connections and polarity for the diode. The maximum output of the sinking
transistor is .050 amp or 50 mA. Do not exceed 0.050 Ampere or serious damage will result to
the I/O 03 board. Use Motoman Part Number ICZ-93B diode (Motorola 1N5395). Typically, a
200 PR V 1/2 amp diode will work in this application.
7/7/93
Page8
•
MOTOMAN
479236-14
7.0 IN-GUARD SAFETY INPUT
The in-guard safety input temporarily forces all robot moves to a preset slower
speed. This input is usually wired to a safety mat or safety fence door switch and
slow s the robot move speeds o n ly while the switch is activated. The robot
resumes full speed motion immediately after the switch is de-activated.
Figure 7-1 shows an example of connecting a switch to the in-guard safety input.
o
CAUTION!
ERC-IO 03 BOARD
+24 VU
Figure 7-1 IN-GUARD SAFETY Connection
7/7/93
M 0T0M AN
47923&14
ERC CONTROLLER
I/O STRUCTURE
Part Number 479236-4
July 7, 1993
MOTOMAN
805LibertyLane
TE: 513-847-6200
FAX: 513-847-6277
24-HOURSERVICEHOTLINE 513-847-3200
Theinformationcontained withinthis documentis theproprietarypropertyofMotoman, Inc., and
maynotbe copied, reproducedortransmittedto otherparties withouttheexpressed written
authorizationofMotoman, Inc.
©1993byMOTOMAN
All Rights Reserved
Because weare constantly improving ourproducts, we reserve the right to change specifications without
notice. YASNAC and MOTOMAN are registeredtrademarks of YASKAWA Electric Manufacturing.
TABLE OF CONTENTS
Section
1.0
2.0
3.0
Paae
INTRO DU CTIO N .
...............................................................................................................................................................................................................................................................................................................
1.1
IN P U T S A N D O UTPU TS
1.2
PO W ER S U P P L Y
T R A N SIST O R IN P U T S
...............................................................................................................................................................................................................................
3
....................................................................................................................................................................................................................................................................
3
.................................................................................................................................................................................................................................................................................
5
2.1
IN P U T C O N N E C T IO N S
2.2
IN P U T C O N D IT IO N S
R E L A Y O U TPU TS
3
...............................................................................................................................................................................................................................
5
.........................................................................................................................................................................................................................................
5
............................................................................................................................................................................................................................................................................................................
6
3.1
O U TPU T RELA YS CONNECTIO NS
.............................................................................................................................................................................
6
3.2
O U T PU T C O N N EC T IO N S
.....................................................................................................................................................................................................................
6
4.0
T R A N SIST O R SIN K IN G O UTPU TS
5.0
IN C A N D E SC EN T LA M P L O A D S
6.0
O PTIO NAL E X P A N SIO N I/O BO A R D
.....................................................................................................................................................................................................................
....................................................................................................................................................................................................................................
6.1
IN P U T S A N D O UTPU TS
6.2
PO W ER S U P P L Y
8
9
10
..................................................................................................................................................................................................
........................................................................................................................................................................................................................
..............................................................................................................................................................................................................................................................
10
10
1.0 INTRODUCTION
1.1
INPUTS AND OUTPUTS
T otal Standard Inputs: 54 (some dedicated based on robot application).
T otal Standard O utputs: 36 (some dedicated based on robot application).
O p tio n a l E x p a n sio n B o a rd In pu ts: 48 (som e dedicated based on robot
application).
O p tio n a l E x p a n sio n B o a rd O u tputs: 32 (som e dedicated based on robot
application).
Input Type: LED (Light Emitting Diode) photo isolated transistor with indicator
LED.
O utput Type: Eight-1/2 amp 24 volt DC or 1/2 amp 200 volt AC normally open
dry relay contacts. A ll other outputs are transistor sinking drivers (50 mA @ 24
volt DC) with LED indicators.
1.2
POWER SUPPLY
24 volt DC 1/2 amp maximum internal to ERC controller. When using loads that
exceed the 1/2 amp, use an external 24 volt DC regulated linear transistor power
supply. D o not u se sw itch in g reg u la to r type p o w er su p p lies d u e to
sw itch in g noise. External 24 volt power supply connections are made at the
terminal strip 4TB and jumper changes must be made on the 1003 board.
NOTE:
If an external PLC (Programmable Logic Controller) is used, it must be capable of processing
transistor sinking inputs and outputs. Check with the supplier of the Programmable Logic
Controller. A "Sinking Input is a condition where the input signal to the 1003 board is
connected to ground to indicate a logical true state of the PLC. A "Sinking Output is one
which "sinks" the load to ground to activate the device.
"
"
WARNING!
Improper wiring can cause severe personal injury or death, and
possible equipment damage! Only trained personnel familiar
with the robot manuals, electrical design and equipment
interconnections should be permitted to modify the system.
ERC Controller I/O Structure
7/7/93
MOTOMAN
479236-4
o
DANGER!
All parameter modifications and I/O modifications made to the
ERC controller will change the way the robot operates and can
cause severe personal injury or death, and possible equipment
damage. This includes ERC parameters and NODES 1, 2 or 3.
Recheck and test all changes at slow speed.
NOTE:
CN01 (01C). The common "+24 VU" appears on pins 44 through 46 on each connector. The
common "0 VU" appears on pins 47 through 49 on each Honda connector.
o
WARNING!
Do not apply any voltage to the robot to input connections! This
will damage the input module and cause serious and costly
damage to the 1003 board.
o
CAUTION!
Improper operation can damage equipment! Only trained
personnel familiar with the operation of this Motoman robot, the
operator manuals, the system equipment, options, and
accessories should be permitted to operate this robot system.
O
CAUTION!
connections.
NO TE:
Back up all your programs and jobs on a floppy disk whenever program changes are made. A
backup must always be made before any servicing or changes are made to options,
accessories or equipment to avoid loss of system information, programs, and jobs.
MOTOMAN
2.0
2.1
TRANSISTOR INPUTS
INPUT CONNECTIONS
Som e input connections are made at both the 50 pin Honda connectors (CN01
(01C ) and CN02 (02C)) and screw terminal strips, while others are dedicated to
only the Honda connectors or terminal strips. See Appendix B for further details.
2.2
INPUT CONDITIONS
The input condition must remain stable for a minimum of .020 seconds. The ERC
scans the inputs and if there is a change in logic, it scans a second time to confirm
the change. This eliminates relay contact bounce that might occur and give false
indications. When the input terminal, 02C-17 for example (see Figure 2-1), is
brought to ground potential by either a switch, a contact, or a PLC, the LED on the
1003 board will light and the input confirmed 40 ms later. There are red LED
indicator lamps on each input.
CAUTION!
connections.
IO 03 BOARD
24 VU
J
V
y
0 vu
Figure 2-1 Input Connections
7/7/93
Page3
MOTOMAN
479236-4
3.0 RELAY OUTPUTS
3.1
OUTPUT RELA YS CONNECTIONS
The output relays (OUT #9 through OUT #16) on the I/O board have a rating o f 1/2
amp 48 volt DC or 1/2 amp 200 volt AC. Even though the rating is 1/2 amp, the
contact can be damaged by high voltage transients caused by the inductive kick of
relay coils. It is necessary to apply a "flyback" diode across a DC relay coil or an
RC network or MOV for an AC coil to suppress the high voltage when the relay
coil is de-energized. Each relay has an LED indicator lamp that lights when the coil
is energized. See Figure 3-1 for suppression o f the DC relay coil.
3.2
OUTPUT CONNECTIONS
Som e output connections are made at both the 50 pin Honda connectors (CN01
(01C) and CN02 (02C)) and terminal strips, while others are dedicated to only the
Honda connectors or terminal strips. See Appendix B for further details.
O
CAUTION!
connections.
10 03 BOARD
Figure 3-1 Output with DC Relay Coil
ERC Controller 1/0 Structure
7/7/93
M0T0MAN
47923&4
Typically, higher rated 24 volt DC relays are connected to the internal hard relay
contacts (OUT # 9 through OUT #16) and the transistor sinking outputs on the 1003
board. Relays should be selected from a reputable manufacturer and should have
good life expectancy with the voltage and current rating based on application and
typical loads.
U se Motoman Part Number 470108 (4PDT) relay with 24 volt coil (37 mA, 680
ohm) and DIN rail mounting for relay socket #471628. The relay may be obtained
from Motoman or other sources (Omron type MY4Z or equivalent).
NOTE:
If the relay has an LED indicator, add 5-10 mA to total relay current draw and observe the coil
and LED polarity.
When an isolated Normally Open relay contact (OUT #9 for example) is used to
actuate external AC relays or devices, a suppresser must be used across the load
(see Figure 3-2). If the voltage is 125 volts AC, use Motoman suppresser Part
Number 403955-10 (General Electric Part Number V I50L A 10A rated at 150 volts
AC). If the supply is 24 volt AC, use the 40 volt RMS suppresser Motoman Part
Number 403955-2 (General Electric Part Number V40LA10A ). The suppresser
should be placed directly across the load and as close as possible. This device is a
General Electric Metal Oxide Varister (MOV) and can be obtained in both higher
and lower voltages and current ratings. See the General Electric literature for more
details.
IO 03 BOARD
Figure 3-2 Output with AC Relay Coil
7/7/93
Page5
MOTOMAN
479236-4
4.0
TRANSISTOR SINKING OUTPUTS
A "flyback diode" must be placed across the DC load (DC relay coil, for example)
that is driven by an output sinking transistor. The sinking transistor can easily be
damaged by DC relay high voltage transients caused by inductive relay coils (see
Figure 4-1). Damage to a transistor will cause the loss o f the entire block of output
transistors and require expensive repair. See Figure 4-1 for proper connections and
polarity for the diode. The maximum output o f the sinking transistor is .050 amp
or 50 mA. D o not exceed 0.050 Ampere or serious damage will result to the 1003
board.
Use Motoman Part Number 1CZ-93B diode (Motorola 1N5395). Typically, a 200
PRV 1/2 amp diode will work in this application.
IO 03 BOARD
24 V EXT
24 VDC MAX, 50 mA
Figure 4-1 Transistor Sinking
7/7/93
MOTOMAN
479236-4
5.0 INCANDESCENT LAMP LOADS
In som e cases, transistor sinking outputs may be used to drive an incandescent
lamp directly. It is recommended however, that the transistor output be used to
drive a Light Emitting Diode (LED) if a low level indicator is needed or a separate
relay if more output current is required. Using the output transistor to drive an
incandescent lamp may cause failure o f the transistor due to the inherent low
"COLD" resistance o f the lamp. The incandescent lamp must not draw more than
50 mA inrush.
A GE #757 2 4 volt incandescent bulb used in many panel indicators draws .080
amperes. This is too much current for the output transistor. A GE #1819
incandescent lamp has an operating current o f .040 amperes, but a cold inrush
current o f .25 ampere. Even though the bulb is within the "HOT" rating, the
"COLD" resistance o f the lamp will cause excessive inrush current. The GE #1819
lamp has a "COLD" resistance of 100 ohms and a hot resistance of 600 ohms. The
6:1 ratio o f "HOT to COLD resistance" is typical of incandescent lamps.
In som e cases, the use o f a "keep alive resistor" may allow operation o f an
incandescent lamp. The "keep alive resistor" is placed in parallel with the operating
device (transistor or relay contact) to pass a portion o f the current through the lamp
continuously to reduce the "Cold Inrush" current
Since the selection o f a keep alive resistor is dependent on a specific incandescent
lamp rating, it is better to use LED lamp replacements. Incandescent lamp
replacements use clusters o f LEDs, and while not as bright as incandescent lamps,
their life is over 100,000 hours. Replacement lamps LED clusters in T3 1/4
miniature bayonet configuration (B328 CW R 6 28V /20-D ) may be obtained from
Motoman Part Number 479494 or Ledtronics, Inc. in California (213) 676-7996.
Both Square D and GE also make LED panel lamps.
ERC Controller 1/0 Structure
7/7/93
Page 7
MOTOMAN
479236-4
6.0
OPTIONAL EXPANSION I/O BOARD
The optional expansion I/O board (1004) adds additional input and output
connections (see Appendix A). All input and output connections are made by two
50 pin Honda connectors (0C 3 and OC4) with the board mounting below the
existing I/O board.
NOTE:
This 1004 mounting area is typically used for other interface relay panels and may interfere
with the board mounting if added later.
6.1
INPUTS AND OUTPUTS
Inputs: 48 (som e dedicated based on robot application)
O u tp u ts: 32 (som e dedicated based on robot application) A ll outputs are
transistor sinking type. No hard isolated relay contacts are on the 1004 board.
6.2
POWER SUPPLY
Optional, based on load. The board draws its logic power from connections on the
1003 and the ERC 24 volt supply. Keep in mind that extra outputs can draw up to
50 mA each, and inputs 5 mA each. The additional load to the ERC power supply
can be as much as .78 ampere DC. If an additional power supply is required, use
M otoman Part Number 471907-2 (Power One Part Number H B 24-1.2-A ) or
equivalent. This power supply is rated at 1.2 ampere, 24 volt DC. Use only linear
regulators, since switching regulators can cause problems with switching noise and
high frequency ripple. See Figure 6-1 for installation o f an additional 24 volt DC
power supply. Note that the additional power supply is connected to 4TB-7 and
4T B -8. Jumper pins SW1-5 and SW 1-7 must be removed. D o not change the
value o f the 1/2 ampere fuse on the 1003 board. A separate fuse should be added
for the external power supply.
7/7/93
Page8
MOTOMAN
479236-4
10-03 E BOARD
INTERNAL
POWER SUPPLY
INPUT
24 VU
1
XTERNAL POWER
O
0
+ 24 V
4 T B -3 .4
24 VU
+ 241
24 VEXT
0 -
CN01-44 TO -46
CN02-44 TO -46
(CONNECTOR)
SW1-5
R15
4.7 OHM ,
1
FU 2 (0.50 A)
------- ► + 24 VU
4TB -7
R16
4.7 OHM
I
4 TB-5, 6
I
▼
r—
-------- ► 0 VU
4TB -8
OV
ovu
- 2 t
/
SW1-7
0 VEXT
CN01-47 TO -49
CN02-47 TO -49
(CONNECTOR)
▼ 0241
INTERNAL
POWER SUPPLY
INPUT
OVU
Figure 6-1 Added 24 Volt DC Power Supply
NOTE:
CN01 (01C). The common "+24 VU“appears on pins 44 through 46 on each connector. The
common "0 VU" appears on pins 47 through 49 on each Honda connector.
7/7/93
MOTOMAN
479236-4
ERC Default Input and Output Assignments for Each Application
U ln
Inpul
OzOut Ttrm. •
Connaetor
Rday
Numbtr
Numbtr
TOTAL INPUTS
DEDICATED INPUTS
USER INPUTS AVAILABLE
TOTAL OUTPUTS
DEDICATED OUTPUTS
USER OUTPUTS AVAILABLE
I
|
1
p
WELDING
SPOT WELD
HANDLING
SEALING
LASER CUT
PLASMA CUT
CUTTING
I/O
Nama
I/O
Nama
I/O
Nama
I/O
Nama
I/O
Nama
I/O
Nama
I/O
Nama
GENERAL
54
22
32
54
22
32
54
22
32
54
22
32
54
22
32
54
22
32
54
22
32
36
20
16
36
28
8
36
24
12
36
21
IS
36
20
16
36
21
15
36
21
15
m im m z m m m w fiis wííísíí:w m m m n m m
ijXAX^x-X'X-X'X-tiX-X'X'X-XvX'X'X-X'X-x-:■msmxssMsasm•:^x-x*x'x*x-x-x-x-x-x*x-:,v-*
Optional EXPANDED 1/0-04 BOAR(| (add to abova Input and output quantltlaa)
TOTAL INPUTS
DEDICATED INPUTS
USER AVAILABLE INPUTS
TOTAL OUTPUTS
DEDICATED OUTPUTS
USER AVAILABLE OUTPUTS
Appendix A
1
&
1
1
1
48
0
48
48
0
48
48
0
48
48
0
48
48
0
48
48
0
48
48
0
48
32
2
30
32
1
31
32
1
31
32
1
31
32
1
31
32
1
31
32
1
31
Pago 1
August 20, 1991
WELDING
I/O
Name
lain
Inpul Connector Relay
OsOut Term. # Number Number
I
I
1
O
O
0
O
O
Cont. pwr
Cont. pwr
ESTOP
ESTOP
Servo pwr
Servo pwr
ssEstop OK
Estop OK
1TB-1
1TB-2
1TB-3
1TB-4
1TB-5
1TB-6
1TB-7
1TB-B
s
off
oft
on
on
SPOT WELD
I/O
Nam*
Cont. pwr
Cont. pwr
ESTOP
ESTOP
Servo pwr
Servo pwr
Estop OK
Estop OK
off
off
on
on
HANDLING
I/O
Nam*
Cont. pwr
Cont. pwr
ESTOP
ESTOP
Servo pwr
Servo pwr
Estop OK
Estop OK
2TB-1
2TB-2
2TB-3
2TB-4
2TB-5
2TB-6
2TB-7
2TB-8
3040
Out #9
3040 ' Out #9
3041 ' Out #10
3041
Out *10
Out #11
3032
3042
Out #11
3043
Out #12
3043
Out #12
Weld Timer
binary bit 0
Weld Timer
binary bit 1
Weld timer
Binary bit 2
weld timer
Binary bit 3
Out
Out
Out
Out
Out
Out
Out
Out
O
O
O
0
O
O
0
3TB-1
3TB-2
3TB-3
3TB-4
3TB-5
3TB-6
3TB-7
3TB-8
3044
3044
3045
3045
3046
3046
3047
3047
Pres chg Inst
Pres chg Inst
Gun Full open
Gun full open
Welding on
Welding on
Gun on Instr
Gun On Instr
1
1
4TB-1
4TB-2
4TB-3
4TB-4
4TB-5
4TB-6
4TB-7
4TB-8
O
O
O
O
O
O
O
O
off
off
on
on
Cont. pwr
Cont. pwr
ESTOP
ESTOP
Servo pwr
Servo pwr
Estop OK
Estop OK
off
off
on
on
Cont. pwr
Cont. pwr
ESTOP
ESTOP
Servo pwr
Servo pwr
Estop OK
Estop OK
off
off
on
on
GENERAL
I/O
Nam*
CUTTING
I/O
Nam*
PLASMA CUT
I/O
Nam*
Cont. pwr
Cont. pwr
ESTOP
ESTOP
Servo pwr
Servo pwr
Estop OK
Estop OK
off
off
on
on
Cont. pwr
Cont. pwr
ESTOP
ESTOP
Servo pwr
Servo pwr
Estop OK
Estop OK
off
off
on
on
#9
#9
#10
#10
#11
#11
#12
#12
Out
Out
Out
Out
Out
Out
Out
Out
#9
#9
#10
#10
#11
#11
#12
#12
Out
Out
Out
Out
Out
Out
Out
Out
#9
#9
#10
#10
#11
#11
#12
#12
Out
Out
Out
Out
Out
Out
Out
Out
#9
#9
#10
#10
#11
#11
#12
#12
Out
Out
Out
Out
Out
Out
Out
Out
#9
#9
#10
#10
#11
#11
#12
#12
Hnd1 catch Ins
Hnd1 catch ins
handlrel Ins
hand rel Ins
Hnd2 catch Ins
Hnd2 catch Ins
Hand2 rel Ins
Hand2 rel Ins
Out
Out
Out
Out
Out
Out
Gun
Gun
#13
#13
#14
#14
#15
#15
on instr
on Instr.
Out
Out
Out
Out
Out
Out
Out
Out
#13
#13
#14
#14
#15
#15
#16
#16
Out
Out
Out
Out
Out
Out
Out
Out
#13
#13
#14
#14
#15
#15
#16
#16
Out #13
Out #13
Out #14
Out #14
Out #15
Out #15
Tool On Instr
Tool On Instr
Out
Out
Out
Out
Out
Out
Out
Out
#13
#13
#14
#14
#15
#15
#16
#16
•O' VDC
DC pwr
| Ext. DC pwr
PDIN
PDIN
+24 VDC
+24 VDC
■O" VDC
■O' VDC
Ext. DC pwr
Ext. DC pwr
PDIN
PDIN
+24 VDC
+24 VDC
•0* VDC
•O’ VDC
Ext. DC pwr
Ext. DC pwr
PDIN
PDIN
+24 VDC
+24 VDC
•0- VDC
■O' VDC
Ext. DC pwr
Ext. DC pwr
PDIN
PDIN
+24 VDC
+24 VDC
’O' VDC
"O' VDC
Ext. DC pwr
Ext. DC pwr
PDIN
PDIN
+24 VDC
+24 VDC
"0" VDC
■O' VDC
Ext. DC pwr
Ext. DC pwr
PDIN
PDIN
+24 VDC
+24 VDC
•O' VDC
'O' VDC
Ext. DC pwr
Ext. DC pwr
PDIN
PDIN
+24 VDC
+24 VDC
'0* VDC
"O' VDC
Ext. DC pwr
Ext. DC pwr
¡DIN 1
I din 1
DIN 1
DIN 1
DIN 1
DIN 1
DIN 1
DIN 1
DIN 1
DIN 1
DIN 1
DIN 1
DIN 1
DIN 1
DIN 1
DIN 1
, Out
Out
' Out
Out
pOut
|O u t
|:Out
¡O ut
#13
#13
#14
#14
#15
#15
#16
#16
|P0IN
|+24 VDC
|+24 VDC
l ’0- VDC
fjf Ext
Appendix B
on
on
Cont. pwr
Cont. pwr
ESTOP
ESTOP
Servo pwr
Servo pwr
Estop OK
Estop OK
LASER CUT
I/O
Nam*
Out
Out
Out
Out
Out
Out
Out
Out
|;PDIN
5TB-1
5TB-2
off
off
SEALING
I/O
Nam*
#9
#9
#10
#10
#11
#11
#12
#12
Page 1
August 20, 1991
Input Connaetor Ralay
Isln
OxOut Tarm. # Numbar Numbar
WELDING
I/O
Nam*
8 DIN 2
ISDIN 2
Wire stick
Wire stick
SHOCK SENS.
SHOCKSENS.
5TB-3
5TB-4
5TB-5
5TB-6
5TB-7
5TB-8
SPOT WELD
I/O
Nama
HANDLING
I/O
Nama
SEALING
I/O
Nama
LASER CUT
I/O
Nama
PLASMA CUT
I/O
Nama
GENERAL
I/O
Nama
CUTTING
I/O
Nama
DIN 2
DIN 2
DIN 3
DIN 3
SHOCK SENS.
SHOCK SENS.
DIN 2 : "
DIN 2
DIN 3
DIN 3
SHOCK SENS.
SHOCK SENS.
DIN 2.................... biN 2 .................... DIN 2 ................
DIN 2
DIN 2
DIN 2
DIN 3
DIN 3
DIN 3
DIN 3
DIN 3
DIN 3
SHOCK SENS.
DIN 4
DIN 4
SHOCKSENS.
DIN 4
DIN 4
DIN 2....................
DIN 2
DIN 3
DIN 3
SHOCK SENS.
SHOCK SENS.
DIN 2
DIN 2
DIN 3
DIN 3
SHOCK SENS.
SHOCK SENS.
1
1
1
1
1
1
1
1
6TB-1
6TB-2
6TB-3
8TB-4
6TB-5
6TB-6
6TB-7
6TB-8
01C-1
01C-2
01C-3
01C-4
01C-5
01C-6
01C-7
01C-8
2010
SERVO ON
2011
START
2012
HOLD
2013
ALARM RESET
2014 ' CUBE INTF #1
2015
CUBE INTF #2
2016 , ARC PROHIBIT
ARC ON RESP
2017
SERVO ON
START
HOLD
ALARM RESET
CUBE INTF #1
CUBE INTF #2
Gun Open
Gun Open
SERVO ON
START
HOLD
ALARM RESET
Hndl catch chk
Hnd1 rel chk
Hnd2 catch chk
Hnd2 rel chk
SERVO ON
START
HOLD
ALARM RESET
CUBE INTF #1
CUBE INTF #2
Apl pnt proh.
Gun on Resp
SERVO ON
START
HOLD
ALARM RESET
CUBE INTF #1
CUBE INTF #2
Lsr strt proh
Laser on resp
SERVO ON
START
HOLD
ALARM RESET
CUBE INTF #1
CUBE INTF #2
Plasma prohb.
Plasma arc on
SERVO ON
START
HOLD
ALARM RESET
CUBE INTF #1
CUBE INTF #2
Mach. Prohibit
Tool on Resp
SERVO ON
START
HOLD
ALARM RESET
CUBE INTF #1
CUBEINTF #2
Play/Auto sei
Teaching
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
O
O
0
O
7TB-1
7TB-2
7TB-3
7TB-4
7TB-5
7TB-6
7TB-7
7TB-8
01C-9
01C-10
01C-11
01C012
01C-13
01C-14
01C-15
01C-16
01C-17
01C-18
01C-19
01C-20
01C-21
01C-22
01C-23
01C-24
01C-25
01C-26
01C-27
01C-28
01C-29
01C-30
2020
Input #1
2021
Input *2
2022
Input #3
2023
Input #4
2024
Input #5
2025
Input #6
2026
Input #7
2027
Input #8
2030
Input #9
2031
Input *10
2032
Input #11
2033 ' Input #12
2034
Input #13
2035
Input #14
2036
Input #15
2037
Input #16
3010
PLAY/AUTO
3011 ' TEACHING
3012
HOLDING
BATTLOW
3013
WORK INTF#1
3014
3015
WORK INTF#2
Input #1
Input #2
Input #3
Input #4
Input #5
Input #6
Input #7
Input #8
Input #9
Input #10
Input #11
Input #12
Input #13
Input #14
Input #15
Input #16
PLAY/AUTO
TEACHING
HOLDING
BATTLOW
WORK INTF#1
WORK INTF#2
Input #1
Input #2
Input #3
Input #4
Input #5
Input #6
Input #7
Input #8
Input #9
Input #10
Input #11
Input #12
Input #13
Input #14
Input #15
Input #16
PLAY/AUTO
TEACHING
HOLDING
BATT LOW
WORK INTF#1
WORK INTF#2
Input #1
Input #2
Input #3
Input #4
Input #5
Input #6
Input #7
Input #6
Input #9
Input #10
Input #11
Input #12
Input #13
Input #14
Input #15
Input #16
PLAY/AUTO
TEACHING
HOLDING
BATT LOW
WORK INTF#1
WORK INTF#2
Input #1
Input #2
Input #3
Input #4
Input #5
Input #6
Input #7
Input #6
Input #9
Input #10
Input #11
Input #12
Input #13
Input #14
Input #15
Input #16
PLAY/AUTO
TEACHING
HOLDING
BATTLOW
WORK INTF#1
WORK INTF#2
Input #1
Input #2
Input #3
Input #4
Input #5
Input #6
Input #7
Input #8
Input #9
Input #10
Input #11
Input #12
Input #13
input #14
Input #15
Input #16
PLAY/AUTO
TEACHING
HOLDING
BATT LOW
WORK INTF#1
WORK INTF#2
Input #1
Input #2
Input #3
Input #4
Input #5
input #6
Input #7
Input #8
Input #9
Input #10
Input #11
Input #12
Input #13
Input #14
Input #15
Input #16
PLAY/AUTO
TEACHING
HOLDING
BATT LOW
WORK INTF#1
WORK INTF#2
Input #1
Input #2
Input #3
Input #4
Input #5
Input #6
Input #7
Input #8
Input #9
Input #10
Input #11
Input #12
Input #13
input #14
Input #15
Input #16
PLAY/AUTO
TEACHING
HOLDING
BATT LOW
WORK INTF#1
WORK INTF#2
0TB-1
8TB-2
0TB-3
8TB-4
8TB-5
8TB-6
Appendix B
Page 2
August 20, 1991
Uln
Input
OxOut Term. •
O
O
O
O
O
O
O
O
0
O
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
8TB-7
8TB-8
C onnector
Number
01C-31
01C-32
01C-33
01C-34
01C-35
01C-36
01C-37
01C-38
01C-39
01C-40
01C-41
01C-42
01C-43
01C-44
01C-45
01C-46
01C-47
01C-48
01C-49
01C-50
02C-1
02C-2
02C-3
02C-4
02C-5
02C-6
02C-7
02C-8
02C-9
02C-10
02C-11
02C-12
02C-13
02C-14
02C-15
02C-16
02C-17
02C-18
Appendix B
Relay
Numbar
WELDING
I/O
Nam*
3016 : OPERATING
3017
ALARM OCCUR
OPERRDY
3020
3021
INGAURD SFTY
3022
ARC ON OUT
3023
ARC SHORTAGE
3024
GAS OUT
3025
WIRE OUT
3026
ARC MISSING
3027
WIRE STICK
Cntr pwr oil
ESTOP
•
2040
2041
2042
2043
2044
2045
2046
2047
2050
2051
2052
2053
2054
2055
2056
2057
2060
2061
+24 VDC
'+24 VDC
+24 VDC
■0* VDC
’O' VDC
•O' VDC
•
Inpul #17
'Input #18
Input #19
Input #20
| Input #21
| Input #22
p Input #23
| Input #24
filnput #25
| Input #26
lilnput #27
| Input #28
| Input #29
| Input #30
i ; Input #31
| Input #32
if Arc Occ. Chk
|A rc shortage
SPOT WELD
I/O
Nama
OPERATING
ALARM OCCUR
START READY
In-guard salty
Play/1 cycle
Wait intf off
Cont pwr ok
Servo On
Chip Replace
Spot wld error
Contr pwr off
ESTOP
*
+24 VDC
+24 VDC
+24 VDC
■O' VDC
"0‘ VDC
•O’ VDC
•
Input #17
Input #18
Input #19
Input #20
Input #21
Input #22
Input #23
Input #24
Input #25
Input #26
Input #27
Input #28
Input #29
Input #30
Input #31
Input #32
Weld Complete
Welding Error
HANDLING
I/O
Nama
SEALING
I/O
Nama
LASER CUT
I/O
Nama
PLASMA CUT
I/O
Nam*
GENERAL
I/O
Nam*
CUTTING
I/O
Nam*
OPERATING
ALARM OCCUR
START READY
In-guard safty
Play/1 cycle
Walt Intf off
Cont pwr ok
Servo On
Catch Error
Release error
Contr pwr off
ESTOP
•
OPERAT^n
ALARM OCCUR
START READY
In-guard safty
Play/1 cycle
Walt Intf off
Cont pwr ok
Servo On
Glue shortage
Apl glue error
Contr pwr off
ESTOP
OPERATING
ALARM OCCUR
OPERRDY
INGAURD SFTY
Laser on
Walt Intf off
Cont pwr ok
Contr pwr on
Lsr noz short
Lsr pwr error
Cntr pwr off
ESTOP
OPERATING
ALARM OCCUR
START READY
INGAURD SFTY
ARC ON
Wait Intf off
Contr pwr ok
Servo on
ARC MISSING
Pis pwr error
Cntr pwr off
ESTOP
OPERATING
ALARM OCCUR
START READY
INGAURD SFTY
Play/1 cycle
Walt Intf off
Contr pwr ok
Servo on
Tool Wear
Mach. Error
Cntr pwr off
ESTOP
OPERATING
ALARM OCCUR
Out #17
Out #18
Out #19
Out #20
Out #21
Out #22
Out #23
Out #24
Cntr pwr off
ESTOP
+24 VDC
+24 VDC
+24 VDC
■0" VDC
"O' VDC
“O' VDC
•
+24 VDC
+24 VDC
+24 VDC
'O' VDC
•O' VDC
'O' VDC
+24 VDC
+24 VDC
+24 VDC
■O' VDC
•O’ VDC
•O'VDC
+24 VDC
+24 VDC
+24 VDC
■O' VDC
"O’ VDC
•O' VDC
+24 VDC
+24 VDC
+24 VDC
"0* VDC
■O' VDC
■O' VDC
+24 VDC
+24 VDC
+24 VDC
■0* VDC
•O’ VDC
'O' VDC
Input #17
Input #18
Input #19
Input #20
Input #21
Input #22
Input #23
Input #24
Input #25
Input #26
Input #27
Input #28
Input #29
Input #30
Input #31
Input #32
Cubel Intf
Cube2 intf
Input #17
Input #18
Input #19
Input #20
Input #21
Input #22
Input #23
Input #24
Input #25
Input #26
Input #27
Input #28
Input #29
Input #30
Input #31
Input #32
Glue shortage
Apl Glue error
Input #17
Input #18
Input #19
Input #20
Input #21
Input #22
Input #23
Input #24
Input #25
Input #26
Input #27
Input #28
Input #29
Input #30
Input #31
Input #32
Laser on chk
Lsr on Rdy
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Plsm
Plsm
Input #17
Input #18
Input #19
Input #20
Input #21
Input #22
Input #23
Input #24
Input #25
Input #26
Input #27
Input #28
Input #29
Input #30
Input #31
Input #32
Tool Wear
Cutting Errror
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Inpi."
Input
Input
Input
Input
Input
Input
Page 3
#17
#18
#19
#20
#21
#22
#23
#24
#25
#26
#27
#28
#29
#30
#31
#32
arc occr
pwr rdy
August 20, 1991
#17
#18
#19
#20
#21
#22
#23
#24
#25
#26
#27
8
#¿9
#30
#31
#32
#33
#34
WELDING
I/O
Nam*
U ln
Input C onnector Relay
O bO uI Term. *
Number Number
I
I
I
I
1
I
o
o
o
o
0
o
o
o
02C-19
02C-20
02C-21
02C-22
02C-23
02C-24
02C-25
02C-26
02C-27
02C-28
02C-29
02C-30
02C-31
02C-32
02C-33
02C-34
02C-35
02C-36
02C-36
02C-37
02C-38
02C-39
02C-40
02C-41
02C-42
02C-43
02C-44
02C-45
02C-46
02C-47
02C-40
02C-49
02C-50
Appendix B
2062
2063
2064
2065
2066
2067
3030
3031
3032
3033
3034
3035
3036
3037
|G a s out
iw lre out
|P n l. Prohibit
|Teach Mode Sel
iPlay/A uto
lln-guard Stty
¡OUT#1
lO U T #2
llOUT #3
l o U T #4
lO U T #5
pOUT #6
IO U T #7
iO U T #8
SPOT WELD
I/O
Nam*
HANDLING
I/O
Nam*
SEALING
I/O
Nam*
Wire sticking
Chip repl Done
Pnl Prohibit
Teach Mode
Play/Auto
In-guard Stty
OUT #1
OUT #2
OUT #3
OUT #4
OUT #5
OUT #6
OUT #7
OUT#«
Play/1 cycle
Mstr Job call
Pnl Prohibit
Teach Mode
Play/Auto
In-guard slty
OUT #1
OUT #2
OUT #3
OUT #4
OUT #5
OUT #6
OUT #7
OUT #8
Play/ 1 cycle
Mstr job call
Pnl Prohibit
Teach Mode
Play/Auto
In-guard sfty
OUT *1
OUT #2
OUT #3
OUT #4
OUT #5
OUT #8
OUT #7
OUT #8
+24 VDC
+24 VDC
+24 VDC
■0* VDC
'O ' VDC
■O' VDC
+24 VDC
+24 VDC
+24 VDC
*0* VDC
■O' VDC
■0* VDC
+24 VDC
+24 VDC
+24 VDC
'O' VDC
■O' VDC
"O' VDC
LASER CUT
I/O
Nam*
GENERAL
I/O
Nam*
PLASMA CUT
I/O
Nam*
CUTTING
I/O
Nam*
Lsr Noz short
Lsr pwr error
Pnl. Prohibit
Teach Mode Sel
Play/Auto
In-guard Sfty
OUT #1
OUT #2
OUT #3
OUT #4
OUT #5
OUT #6
OUT #7
OUT #8
Arc Short
Pis pwr error
Pnl Prohibit
Teach Mode Sel
Play/Auto
In-guard Sfty
OUT #1
OUT #2
OUT #3
OUT #4
OUT #5
OUT #6
OUT #7
OUT #8
Play/1 cycle
Mstr job call
Pnl Prohibit
Teach Mode Sel
Play/Auto
In-guard Sfty
OUT #1
OUT #2
OUT #3
OUT #4
OUT #5
OUT #6
OUT #7
OUT #8
Input #35
Input #36
Input #37
Input #38
Input #39
Input #40
OUT #1
OUT #2
OUT #3
OUT #4
OUT #5
OUT #6
OUT #7
OUT #8
+24 VDC
+24 VDC
+24 VDC
"O' VDC
•0" VDC
■O' VDC
+24 VDC
+24 VDC
+24 VDC
'O' VDC
■0" VDC
*0' VDC
+24 VDC
+24 VDC
+24 VDC
■O' VDC
"0* VDC
■O'VDC
+24 VDC
+24 VDC
+24 VDC
’O' VDC
'O' VDC
■O' VDC
1
I
1
1
1
&
t
•
1
1
1
1
1
1+24 VDC
1+24 VDC
1+24 VDC
|'0 " VDC
|*0 'V D C
| ’0* VDC
Page 4
August 20,1991
ERC Expanded 1/0-04 Default Input and Output Assignments for Each Application
lain
Input Connactor Rally
OsOut Term, # Number Numbar
O
O
O
O
O
O
O
O
O
O
O
0
0
0
03C-1
03C-2
03C-3
03C-4
03C-5
0C3-6
03C-7
03C-S
03C-9
03C-10
03C-11
03C-12
03C-13
03C-14
03C-15
03C-16
03C-17
03C-18
03C-19
03C-20
03C-21
03C-22
03C-23
03C-24
03C-25
03C-28
03C-27
03C-28
03C-29
03C-30
03C-31
03C-32.
03C-33
03C-34
03C-35
03C-36
03C-37
03C-30
Appendix C
WELDING
I/O
Nam*
20 70 s Input #33
2071 ÿi]Input #34
2072j!Input #35
2073§lnput #36
2074|lnput #37
2075|lnput #38
20761 Input #39
2077|lnput #40
2080|lnput #41
2081 1 Input #42
2082flnput #43
2083 É Input #44
2084 !!Input #45
2085 1 Input #46
2086|lnput #47
2087|lnput #48
2090|lnput #49
2091 plnput #50
2092|i Input #51
2093|lnput #52
20941 Input #53
2095|lnput #54
2096Élnput #55
2097§lnput #56
3050|OUT#17
3051 |OUT#18
3052|OUT#19
3053ÍOUT#20
305410UT#21
3055|OUT#22
305610UT#23
3057|OUT#24
3060|OUT#25
3061 |0U T#26
3062j§OUT#27
3063|OUT#28
3064|OUT#29
3065;fOUT#30
SPOT WELD
HANDLING
I/O
I/O
Nama
Nama
vsmatx-fsmi:
Input #33
Input #33
Input #34
Input #34
Input #35
Input #35
Input #36
Input #36
Input #37
Input #37
Input #38
Input #38
Input #39
Input #39
Input #40
Input #40
Input #41
Input #41
Input #42
Input #42
Input #43
Input #43
Input #44
Input #44
Input #45
Input #45
Input #46
Input #48
Input #47
Input #47
Input #48
Input #48
Input #49
Input #49
Input #50
Input #50
Input #51
Input #51
Input #52
Input #52
Input #53
Input #53
Input #54
Input #54
Input #55
Input #55
Input #56
Input #56
OUT#17
OUT#17
OUT#18
OUT#18
OUT#19
OUT#19
OUT#20
OUT#20
OUT#21
OUT#21
OUT#22
OUT#22
OUT#23
OUT#23
OUT#24
OUT#24
OUT#25
OUT#25
OUT#26
OUT#26
OUT#27
OUT#27
OUT#28
OUT#28
OUT#29
OUT#29
OUT#3Q
OUT#30
SEALING
I/O
Nama
Input #33
Input #34
Input #35
Input #36
Input #37
Input #38
Input #39
Input #40
Input #41
Input #42
Input #43
Input #44
Input #45
Input #46
Input #47
Input #48
Input #49
Input #50
Input #51
Input #52
Input #53
Input #54
Input #55
Input #58
OUT#17
OUT#18
OUT#19
01)T#20
OUT#21
OUT#22
OUT#23
OUT#24
OUT#25
OUT#26
OUT#27
OUT#28
OUT#29
01)T#30
Page 1
LASER CUT
I/O
Nama
Input #33
Input #34
Input #35
Input #36
Input #37
Input #38
Input #39
Input #40
Input #41
Input #42
Input #43
Input #44
Input #45
Input #46
Input #47
Input #48
Input #49
Input #50
Input #51
Input #52
Input #53
Input #54
Input #55
Input #56
OUT#17
OUT#18
OUT#19
OUT#20
OUT#21
OUT#22
OUT#23
OUT#24
OUT#25
OUT#26
OUT#27
OUT#28
OUT#29
OUT#3Q
PLASMA CUT
I/O
Nama
Input #33
Input #34
Input #35
Input #36
Input #37
Input #38
Input #39
Input #40
Input #41
Input #42
Input #43
Input #44
Input #45
Input #46
Input #47
Input #48
Input #49
Input #50
Input #51
Input #52
Input #53
Input #54
Input #55
Input #56
OUT#17
OUT#18
OUT#19
OUT#20
OUT#21
OUT#22
OUT#23
OUT#24
OUT#25
OUT#26
OUT#27
OUT#28
OUT#29
OUT#3Q
CUTTING
I/O
Nama
Input #33
Input #34
Input #35
Input #36
Input #37
Input #38
Input #39
Input #40
Input #41
Input #42
Input #43
Input #44
Input #45
Input #46
Input #47
Input #48
Input #49
Input #50
Input #51
Input #52
Input #53
Input #54
Input #55
Input #56
OUT#17
OUT#18
OUT#19
OUT#20
OUT#21
OUT#22
OUT#23
OUT#24
OUT#25
OUT#26
OUT#27
OUT#28
OUT#29
OUT#3Q
GENERAL
I/O
N iini
nm xm msnmmi
Input #41
Input #42
Input #43
Input #44
Input #45
Input #46
Input #47
Input #48
Input #49
Input #50
Input #51
Input #52
Input #53
Input #54
Input #55
Input #58
Input #57
Input #58
Input #59
Input #80
Input #61
Input #62
Input #63
Input #64
OUT#25
OUT#26
OUT#27
OUT#28
OUT#29
OUT#30
OUT#31
OUT#32
OUTI33
OUT#34
OUT#35
OUT#36
OUT#37
OUT#38
September 10,1991
WELDING
I/O
Nam*
Connector Relay
OsOut Term. •
Number Number
la in
In p u t
SPOT WELD
I/O
Nam*
HANDUNO
I/O
Nama
SEALING
I/O
Nam*
LASER CUT
I/O
Nam*
PLASMA CUT
I/O
Nam*
CUTTING
I/O
Nama
GENER
I/O
Nam«
4 S t S M f e S lS S % S ! iiiii(S - X it S t 8 & S t f
o o
03C-39
03C-40
03C-41
03C-42
03C-43
03C-44
03C-4S
03C-48
03C-47
03C-4S
03C-40
03C-S0
04C-1
04C-2
04C-3
04C-4
04C-S
0C3-6
04C-7
04C-8
04C-9
04C-10
04C-11
04C-12
04C-13
04C-14
04C-15
04C-16
04C-17
04C-18
04C-19
04C-20
04C-21
04C-22
04C-23
04C-24
04C-25
Appendix C
30665::OUT#31
3067|OUT#32
£ii*
il'
p+24 VDC
|+24 VDC
|+24 VDC
p0 VDC
lo VDC
|o VDC
§
OUT#31
OUT#32
•
*
OUT#31
OUT#32
•
•
•
OUT#31
OUT#32
•
•
•
OUT#31
OUT#32
•
•
•
OUT#31
OUT#32
•
•
•
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
#
*
’
1
21 OOjflnput #57
21011| Input #58
2102|lnput #59
21031 Input #60
2104 Input #61
2105 Input #62
2106 Input #63
2107 Input #64
2110 Input #65
2111 Input #66
2112 Input #67
2113 Input #68
2 in |;in p u t #69
21151| Input #70
2116jfInput #71
2117 § Input #72
212olflnput #73
21 21 | Input #74
2122|lnput #75
2123|lnput #76
2124 j| Input #77
21251Input #78
21261Input #79
21 27|Input #80
3Q7o|oUT#33
Input #57
Input #58
Input #59
Input #60
Input #61
Input #62
Input #63
Input #64
Input #65
Input #66
Input #67
Input #68
Input #69
Input #70
Input #71
Input #72
Input #73
Input #74
Input #75
Input #76
Input #77
Input #78
Input #79
Input #80
OUT#33
Input #57
Input #58
Input #59
Input #60
Input #61
Input #62
Input #63
Input #64
Input #65
Input #66
Input #67
Input #68
Input #69
Input #70
Input #71
Input #72
Input #73
Input #74
Input #75
Input #76
Input #77
Input #78
Input #79
Input #80
OUT#33
Input #57
Input #58
Input #59
Input #60
Input #61
Input #62
Input #63
Input #64
Input #65
Input #66
Input #67
Input #68
Input #69
Input #70
Input #71
Input #72
Input #73
Input #74
Input #75
Input #76
Input #77
Input #78
Input #79
Input #80
OUT#33
Page 2
Input #57
Input #58
Input #59
Input #60
Input #61
Input #62
Input #63
Input #64
Input #65
Input #66
Input #67
Input #68
Input #69
Input #70
Input #71
Input #72
Input #73
Input #74
Input #75
Input #76
Input #77
Input #78
Input #79
Input #80
OUT#33
Input #57
Input #58
Input #59
Input #60
Input #61
Input #62
Input #63
Input #64
Input #65
Input #66
Input #67
Input #68
Input #69
Input #70
Input #71
Input #72
Input #73
Input #74
Input #75
Input #76
Input #77
Input #78
Input #79
Input #80
OUT#33
OUT#31
OUT#32
•
•
•
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
•
Input #57
Input #58
Input #59
Input #60
Input #61
Input #62
Input #63
Input #64
Input #65
Input #66
Input #67
Input #68
Input #69
Input #70
Input #71
Input #72
Input #73
Input #74
Input #75
Input #76
Input #77
Input #78
Input #79
Input #80
OUT#33
OUT#39
OUT#40
•
•
•
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
*
Input #65
Input #66
Input #67
Input #68
Input #69
Input #70
Input #71
Input #72
Input #73
Input #74
Input #75
Input #76
Input #77
Input #78
Input #79
Input #80
Input #81
Input #82
Input #83
Input #84
Input #85
Input #86
Input #87
Input #88
OUT #41
September 10,1091
Connector
Relay
WELDING
I/O
Number
Number
Nam*
04C-26
04C-27
04C-28
04C-29
04C-30
04C-31
04C-32
04C-33
04C-34
04C-35
04C-36
04C-37
04C-38
04C-3B
04C-40
04C-41
04C-42
04C-43
04C-44
04C-45
04C-46
04C-47
04C-48
04C-49
04C-S0
Appendix C
3071 ;SOUT#34
3072pOUT#35
3073¡joUT#36
3074§:OUT#37
3O75|OUT#30
3076|OUT#39
3077pOUT#40
3080|OUT#41
3081 ||0UT#42
3082j§OUT#43
3083|OUT#44
3084§|OUT#45
3085|OUT#46
3088 ÉWire Inch
3 0 8 7 |A rc On
|i"
I*
1’
1+24 VDC
É+24 VDC
1+24 VDC
10 VDC
| 0 VDC
| 0 VDC
&
SPOT WELD
I/O
Nama
OUT#34
OUT#35
OUT#36
OUT#37
OUT#38
OUT#39
OUT#40
OUT#41
OUT#42
OUT#43
OUT#44
OUT#45
OUT#46
OUT#47
OUT#48
•
•
•
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
•
HANDLING
I/O
SEALING
I/O
Nama
Nama
LASER CUT
I/O
PLASMA CUT
I/O
Nama
CUTTING
I/O
Nama
Nama
OUT#34
OUT#35
OUT#36
OUT#37
OUT#38
OUT#39
OUT#40
OUT#41
OUT#42
OUT#43
OUT#44
OUT#45
OUT#4S
OUT#47
OUT#34
OUT#35
OUT#36
OUT#37
OUT#38
OUT#39
OUT#40
OUT#41
OUT#42
OUT#43
OUT#44
OUT#45
OUT#48
OUT#47
OUTK34
OUT#35
OUT#36
OUT#37
OUT#38
OUT#39
OUT#40
OUT#41
OUT#42
OUT#43
OUT#44
OUT#45
OUT#46
OUT#47
OUT#34
OUT#35
OUT#38
OUT#37
OUT#38
OUT#39
OUT#40
OUT*41
OUT#42
OUT#43
OUT#44
OUT#45
OUT#46
OUT#47
OUT#34
OUT#35
OUT#36
OUT#37
OUT#38
OUT*39
OUT#40
OUT#41
OUT#42
OUT#43
OUT#44
OUT#45
OUT#48
OUT#47
OUT#48
Gun On
Laser On
•
•
Plasma On
•
•
•
Tool On
■
•
•
•
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
•
*
•
•
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
•
Page 3
•
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
•
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
•
GENERAL
I/O
*
•
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
•
Nama
OUT#42
OUT#434
OUT#44
OUT#45
OUT#46
OUT#47
OUT#48
OUT#49
OUT#50
OUT#51
OUT#52
OUT#53
OUT#54
OUT#55
Opr Instruct.
•
•
*
+24 VDC
+24 VDC
+24 VDC
0 VDC
0 VDC
0 VDC
•
September 10,1991
CUBE FUNCTION
The Cube Function (CF) defines a three-dimensional space which can be used to
prevent the robot from colliding with another robot or positioner. Before the robot
enters this space, it reads a specified input on the I/O board. If the input is ON, the
robot stays outside the CUBE until this input is turned off. When the robot enters the
cube, it turns on a specified output. When the robot exits the cube, it turns o ff this
output.
The K-Series robot has four cubes, two of them com e with the robot and two can be
purchased as an option.
CUBE
CUBE
CUBE
CUBE
1
2
1
2
ADDRESS
TERM INAL STRIP
SOUT #3014
SOUT # 3015
SIN # 2014
SIN #2015
8TB-5
8TB-6
6TB-5
6TB-6
Specify the cube by defining two comers using the following procedure:
Cube Definition
Cube Function
7/7/93
Page 1
M0T0MAN
I
1. Press the DISP function key on the ERC controller.
2. Select POSITION on the menu by pressing the F2 key. This will display a different
menu.
3. Select the X YZ on the menu by pressing the F2 key again; this w ill display a
different menu.
4. Select the ROBOT-COORD on the menu by pressing the FI key. This will display
the X YZ coordinates o f the robot.
5. Teach the robot the first comer o f the desired cube.
6. Record the X YZ values from the screen on a piece o f paper for this position.
7. Repeat Steps 5 and 6 for the second comer o f the desired cube.
8. Compare the X coordinate values for both comers and assign the most positive
value to M AX X (ex. -4130 is more positive than -5500) and the most negative
value to MIN X (ex. -5500 is more negative than -4130).
9. Repeat Step 8 for the Y and Z coordinates.
10. Press OP1.
11. Press the right arrow key.
12. Press CUBIC.
The following screen is displayed:
M A X POSITION
C U BE 1
BA SE
C U BE 2
BA SE
M IN PO SITION
X 3500.0 mm
Y 3500.0 mm
Z 3500.0 mm
X 3500.0 mm
Y 3500.0 mm
Z 3500.0 mm
X 3500.0 mm
Y 3500.0 mm
Z 3500.0 mm
X 3500.0 mm
Y 3500.0 mm
Z 3500.0 mm
13. Enter the MAX and MIN XYZ values. Use the cursor key to move the cursor to the
axis you wish to change.
14. Press PANEL.
15. Press CANCEL.
16. Enter X XX .X X .
17. Repeat for the rest o f the data.
18. Power down and power up.
Cube is now established
Cube Function
7/7/93
Page 2
M0T0MAN
TOOL CENTER POINT DEFINITION
A w ell defined Tool Center Point, or TCP, is necessary for m ost applications especially any type o f process work. It will allow easier teaching and the speed of travel
w ill be much more accurate. This is a must for welding, sealing, and cutting.
The ERC is capable o f storing up to nine different tool center points. The first TCP is
called the Standard Tool, or Tool 0. Robots with one tool are only concerned with the
Standard Tool. The remaining eight tools are called Universal T ools, or Tools 1-8.
Robots with multiple tools (such as two-handed grippers) use Universal Tools along
with the Standard Tool. There are two methods for defining the TCP: Manual TCP
definition, and automatic tool center point calibration.
Manual TCP Definition
In most material handling applications, the gripping device is o f definite dimensions and
orientation. It is possible to enter this data directly into the ERC.
0P1 + TOOL + (o) + DISP CHG + choose STANDARD TOOL or UNIVERSAL
TOOL + DATA STORE* PANEL
1. Press OP1.
2. Press TOOL.
3. Press right arrow soft key.
4. Press DISP. CHG.
5. Choose either STANDARD TOOL or UNIVERSAL TOOL.
6. Press DATA STORE.
7. Press PANEL.
Enter the dimensions o f the tool relative to the wrist flange.
Tool Center Point Definition
7/7/93
MOTOMAN
FLANGE COORDINATES
Xf
Materia! Handling TCP
The tool w ill now be defined to the ERC and the robot should move about the TCP
when rolling, bending, or twisting from the teach pendant.
Automatic TCP Calibration
In m ost process applications, the tool has a more com plex geometry - torches are
angled, plasma heads are off-center, etc. If this is the case, entering the dimensions and
rotations of the tool manually will not be straightforward. The preferred approach is to
use the Automatic Tool Center Point Calibration function. A tool center point probe is
needed to use this function.
1. Attach the probe to the robot In most cases it is attached at the breakaway.
2. Put a punch mark on the work table or fixture. B e sure the table is sturdy - the
punch mark should not move.
3. Bring the tip o f the probe down to the punch mark. It is necessary to align the probe
with the T-axis. To do this, put the Teach Pendant in Joint Coordinates an drive the
T-axis. If the probe is aligned, the tip w ill stay in the punch mark. If it processes
out o f the punch mark, use the probe thumbscrews to bring it in line with the T-axis.
4. Create a new job called TCP. This job w ill have two points, one w ill be in the
punch mark, the other w ill be up high enough to detach the probe and reattach the
tool. These points w ill be taught in linear motion.
7/7/93
MOTOMAN
5. The first point w ill be with the probe in the punch mark. The probe is to be
vertically plumb. Use a level to ensure that the probe is not rolled or bent out of
plumb. Also, the T-axis must be at 0 pulse counts. Display the robot's position:
DISP * POSITION * PULSE
1.
Press DISP.
2.
Press POSITION.
3.
Press PULSE
6. With the Teach Pendant in Joint Coordinates, drive the T-axis to 0 pulse counts.
Check that the probe is still in the mark. If it is not, make the necessary
adjustments.
7. With the probe in the punch mark, vertically plumb, and the T-axis at 0 pulses,
record the point.
8. Record the second point after raising the robot up to where the probe can be
detached.
9. Take the robot back to the first step in the program. At the OpPanel:
0P1 * TOOL * (o ) * DISP CHG *
DATA STORE*MANUAL
1.
CALIB. TOOL +
Press OP1.
2. Press TOOL.
3. Press right arrow soft key.
4. Press DISP. CHG.
5. Press CALIB. TOOL.
6. Press DATA STORE.
7. Press MANUAL.
10. Enable the TP. It will read TOOL MASTER. Press Record. The D isplay w ill
blink.
11. Return to the OpPanel and hit E xit
12. N ow, measure the distance from the robot wrist flange to the punch mark.
7/7/93
Page 3
M0T0MAN
Automatic TCP
13. This measurement is to be entered in the Z dimension o f the Tool File. At the
OpPanel:
(Cursor to Z) + DATA STORE +
measurement) +■ ENTER
1.
Cursor to Z.
2.
Press DATA STORE.
3.
Press PANEL.
4.
Enter measurement.
5.
Press ENTER.
PANEL +
(enter
14. N ow m ove the robot up, detach the probe and reattach the tool. M ove the robot
straight down (World Coordinates -Z) toward the punch mark. If the tool's desired
TCP is not in the punch mark, move it there using the axes keys. For process work,
rotate the tool so that it is plumb in the mark.
Too/ Center Point Definition
7/7/93
Page 4
MOTOMAN
Correspondence of Tool and Reference Point
15. It is best to align the Tool Coordinate system with the World Coordinate system.
Check X and Y o f the World system. N ow put the robot in Tool Coordinates and
check X and Y. If they do not act the same, adjust the Tool by using the T-axis keys
until X and Y act the same in both World and Tool Coordinates. At the OpPanel:
0P1 + TOOL m* OISP CHG + STD TOOL + DATA STORE
+ MANUAL
1.
Press O Pl.
2.
Press TOOL.
3.
Press DISP. CHG.
4.
Press STD. TOOL.
5.
Press DATA STORE.
6.
Press MANUAL.
16. Enable the TP. It w ill read Tool 0. Press Record. The display will blink and the
Tool File on the OpPanel will generate all the dimensions and rotations o f the tool.
Return to the OpPanel and press E xit
The tool is now defined. To check the accuracy, put the robot in World Coordinates and
drive the R, B, and T axes. The TCP should hold point
7/7/93
Page 5
M0T0MAN

Programming Manual

Transcription

Similar documents

Beth Ahm Israel at David Posnack JCC

Ko`olau Spring Bridal Open House 2015

Utilitarian Fiction

AREA MAP - 22 Caton

Preview - stanfordhouse.com.hk

Youth Asset Mapping in Toronto

Formats - IZYM-TV

Acquisition of Hipotecaria Nacional

Klipsun Magazine, 1968, Volume 01, Issue 02